Out-of-water base station and cleaning system

Abstract

Provided in the present application are an out-of-water base station and a cleaning system. The out-of-water base station is configured to drive a cleaning robot to enter or exit a pool, and comprises a base station body and a towing mechanism. The towing mechanism is movably connected to the base station body, such that the towing mechanism is switched between a first state and a second state, wherein in the first state, the towing mechanism is at least partially located below the liquid level of the pool, and in the second state, the towing mechanism is located above the liquid level of the pool; and the towing mechanism has an accommodating groove for accommodating the cleaning robot, and when the towing mechanism moves into a vertical orientation relative to the base station body, there is a gap between the towing mechanism and the base station body. By using the out-of-water base station of the present application, the use scenarios of the out-of-water base station are enriched, the stability and reliability of movement of the cleaning robot relative to the towing mechanism are improved, and the rigid damage caused by the pressure applied by the towing mechanism to the base station body during movement is reduced.

Description

Water-free base station and cleaning system

[0001] This application claims priority to Chinese Patent Application No. 2025101233740, filed on January 24, 2025, entitled "Water-free Base Station and Cleaning System"; priority to Chinese Patent Application No. 2025101211154, filed on January 24, 2025, entitled "Water-free Base Station and Cleaning System"; priority to Chinese Patent Application No. 2025201740628, filed on January 24, 2025, entitled "A Water-free Base Station"; and priority to Chinese Patent Application No. 202520174076X, filed on January 24, 2025, entitled "Water-free Base Station and Cleaning System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning robot technology, and more particularly to a water-off base station and cleaning system. Background Technology

[0003] Existing water-removing base stations consist of a base station body and a towing mechanism, through which cleaning robots move relative to the base station body. However, during the construction of water tanks, issues can arise such as the side walls of the tank tilting inwards towards the bottom wall, and installation errors in the water-removing base stations. Because the existing towing mechanism of the water-removing base station cannot continue to rotate after moving to a vertical position relative to the base station body, it reaches its limit of movement after reaching the vertical position. This prevents the towing mechanism from fitting snugly against the side wall of the water tank, thereby reducing the stability and reliability of the cleaning robot moving into the towing mechanism and increasing the rigidity damage to the base station body caused by the towing mechanism during movement. Summary of the Invention

[0004] This application provides a water-removing base station to solve the technical problem that in existing water-removing base stations, the towing mechanism cannot continue to rotate after moving to the vertical direction relative to the base station body. As a result, the towing mechanism cannot fit against the side wall of the water pool, which reduces the stability and reliability of the cleaning robot moving into the towing mechanism and increases the rigid damage to the base station body caused by the towing mechanism during the movement.

[0005] In a first aspect, this application provides a water-removing base station for driving a cleaning robot into or out of a water tank. The water-removing base station includes a base station body and a towing mechanism. The towing mechanism is movably connected to the base station body to switch between a first state and a second state. In the first state, the towing mechanism is at least partially below the surface of the water tank, and in the second state, the towing mechanism is above the surface of the water tank. The towing mechanism has a receiving groove for accommodating the cleaning robot, and when the towing mechanism moves to a vertical position relative to the base station body, there is a gap between the towing mechanism and the base station body.

[0006] Secondly, this application provides a cleaning system including a cleaning robot and a water-removable base station as described above, wherein the cleaning robot is detachably mounted on the water-removable base station.

[0007] The water-free base station and cleaning system proposed in this application include a base station body and a towing mechanism. The towing mechanism is movably connected to the base station body to switch between a first state and a second state. In the first state, the towing mechanism is at least partially below the water surface of the pool, and in the second state, the towing mechanism is above the water surface of the pool. The towing mechanism has a receiving groove for accommodating a cleaning robot. When the towing mechanism moves to a vertical position relative to the base station body, there is a gap between the towing mechanism and the base station body. The towing mechanism proposed in this application has a gap between itself and the base station body when the towing mechanism moves to a vertical position relative to the base station body. Even when the sidewall of the water tank is tilted inwards towards the bottom wall, or when the towing mechanism reaches its limit and cannot fit against the sidewall of the water tank after moving to a vertical position due to installation errors, the towing mechanism still has room for movement between its contact surface and the base station body. Therefore, after moving to a vertical position, the towing mechanism can continue to rotate relative to the base station body, allowing it to fit against the tilted sidewall of the water tank. Furthermore, when the sidewall of the water tank is parallel to the vertical direction or tilts outwards towards the bottom wall, the towing mechanism can also move to a position where it fully fits against the sidewall of the water tank. This enriches the application scenarios of the water-free base station, improves the stability and reliability of the cleaning robot's movement relative to the towing mechanism, and reduces rigid damage caused by the pressure exerted on the base station body during movement. Attached Figure Description

[0008] Figure 1 is a schematic diagram of the cleaning system and water tank provided in the first state according to an embodiment of this application.

[0009] Figure 2 is a schematic diagram of the cleaning system and water tank in Figure 1 in the second state.

[0010] Figure 3 is a side view of the first embodiment of the water-free base station of the cleaning system in Figure 1 when the towing mechanism is rotated to the vertical direction.

[0011] Figure 4 is an enlarged view of part I of the water-based base station in Figure 3.

[0012] Figure 5 is a schematic diagram of the water-free base station in the cleaning system shown in Figure 1.

[0013] Figure 6 is a side view of the water-free base station in the cleaning system of Figure 3 in the first state.

[0014] Figure 7 is a side view of the second embodiment of the water-free base station of the cleaning system in Figure 1 when the towing mechanism is rotated to the vertical direction.

[0015] Figure 8 is a side view of the third embodiment of the cleaning system in Figure 1 with the water-free base station rotated to the vertical direction by the towing mechanism.

[0016] Figure 9 is a side view of the fourth embodiment of the cleaning system in Figure 1 with the water-free base station rotated to the vertical direction by the towing mechanism.

[0017] Figure 10 is a partial cross-sectional view of the cleaning system in Figure 1.

[0018] Figure 11 is a schematic diagram of the main structure of the water-free base station in the cleaning system shown in Figure 1.

[0019] Figure 12 is a side view of another embodiment of the water-based base station in Figure 4.

[0020] Figure 13 is an enlarged view of the cleaning system in Figure 2.

[0021] Figure 14 is a schematic diagram of a driving device provided in an embodiment of this application.

[0022] Figure 15 is a cross-sectional schematic diagram of an off-water base station provided in another embodiment of this application.

[0023] Figure 16 is a cross-sectional view of the cleaning system provided in the embodiment of this application after removing part of the structure.

[0024] Figure 17 is a schematic diagram of the rotating component provided in an embodiment of this application.

[0025] Figure 18 is a top view of the cleaning system provided in an embodiment of this application.

[0026] Figure 19 is an enlarged view of point I in 18.

[0027] Figure 20 is a schematic diagram of the rotating member in a third position according to some embodiments of this application.

[0028] Figure 21 is a schematic diagram of the rotating member in the fourth position according to some embodiments of this application.

[0029] Figure 22 is a partial structural schematic diagram of the towing mechanism provided in some embodiments of this application.

[0030] Figure 23 is a partial structural schematic diagram of the towing mechanism provided in some other embodiments of this application.

[0031] Figure 24 is a three-dimensional structural diagram of the cleaning system in Figure 1.

[0032] Figure 25 is a three-dimensional structural diagram of the water-based base station when the towing mechanism is in the seventh position.

[0033] Figure 26 is a three-dimensional structural diagram of the water-based base station in Figure 2.

[0034] Figure 27 is an AA cross-sectional view of the combined structure of the water station and the cleaning robot in Figure 25.

[0035] Figure 28 shows the orthographic projection of the cleaning system on the XZ plane when the towing mechanism is in the fifth position.

[0036] Figure 29 shows the orthographic projection of the cleaning system on the XZ plane when the towing mechanism is in the seventh position.

[0037] Figure 30 shows the orthographic projection of the cleaning system on the XZ plane when the towing mechanism is in the sixth position.

[0038] Explanation of reference numerals in the attached drawings: Pool - 1a; Bank - 11a; Sidewall - 12a; Cleaning system - 1000; Cleaning robot - 100; Body - 110; Walking mechanism - 120; First tooth - 1201; Transmission belt - 122; Control mechanism - 130; Cleaning mechanism - 140; Water-free base station - 200; Base station body - 10; First end - 1001; Second end - 1002; Movable hole - 101; Mounting groove - 102; Support platform - 11; Support surface - 1101; Mounting platform - 13; First mounting surface - 1301; Second mounting surface - 1302; Arc surface - 1303; Charging mechanism - 15; Towing assembly - 300; Towing mechanism - 30; Receiving groove - 301; Opening - 302; Bearing surface - 304; Contact surface - 305; First wall surface - 3051; Second wall surface - 3052; Gap - 306; Avoidance groove - 307; Through hole - 309; Carrying seat - 31; Connecting end - 311; First reinforcing rib - 3111; Second reinforcing rib - 3112; Free end - 312; Main body - 313; Movable baffle - 32; Second tooth - 3201; Rotating mechanism - 33; First pivot - 41; Second pivot - 42; Third pivot - 43; Fourth pivot - 44; Elastic element - 46; Actuating element - 47; Connecting part - 471; Actuating part 472; Overlapping part - 48; Sliding element - 49; Driving element - 51; Drive motor - 511; Lead screw - 512; Slider - 513; First rotating element - 52; Second rotating element - 53; Bearing element - 60; Horizontal direction - X; Vertical direction - Y; Included angle - α. 331-Mounting hole; 3311-Internal thread; 3312-Mounting hole; 332-Hinged hole; 341-External thread; 360-Fixed part; 361-Connecting hole; 370-Guide rod; 380-Worm gear; 381-Worm; 382-Worm wheel. Limiting wall - 2011; bottom wall of the groove - 2012; side wall of the groove - 2013; mounting groove - 203; sliding groove - 204; limiting groove - 205; extension end - 2051; rotation axis of the rotating mechanism - 301; main body - 3100; guide groove - 310; protrusion - 320; guide wall - 321; rotating shaft - 330; sliding member - 410; elastic member - 420; detection member - 430; drive structure - 50; rotation axis of the walking mechanism - 621; center of gravity of the main body - 23; center of gravity of the towing mechanism - 3300; bottom - 37; center of gravity of the robot - 4100; third end - 522a; distance from the connecting end to the first end - D3; distance from the free end to the first end - D4; gravity arm of the towing mechanism - D5; gravity arm of the cleaning robot - D6; gravity arm of the first rotating member - D7. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0040] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] It should be noted that the terminology in the specification, claims, and accompanying drawings of this application is only for describing specific embodiments and is not intended to limit this application. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. The term "and / or" as used in the specification and appended claims refers to any combination of one or more of the associated listed items, and all possible combinations, including such combinations.

[0042] Please refer to Figure 1, which is a structural schematic diagram of the cleaning system 1000 and the water tank 1a in a first state according to an embodiment of this application. The cleaning system 1000 includes a cleaning robot 100 and a water-removal base station 200. The cleaning robot 100 is detachably mounted on the water-removal base station 200. The water-removal base station 200 is used to drive the cleaning robot 100 into or out of the water tank 1a. Thus, the water-removal base station 200 drives the cleaning robot 100 to automatically perform water-removal and water-removal operations, eliminating the trouble of manual operation, saving time and labor costs, and improving the safety of using the cleaning robot 100.

[0043] It should be noted that pool 1a can be, but is not limited to, swimming pools, ornamental pools, and water storage pools. The cleaning robot 100 can be used for cleaning pool 1a, such as, but not limited to, cleaning swimming pools, ornamental pools, and swimming pools. This application uses the cleaning robot 100 for cleaning a swimming pool as an example for detailed explanation.

[0044] Figure 1 is intended only to schematically illustrate the arrangement between the cleaning robot 100 and the water-removing base station 200, and is not intended to specifically limit the connection positions, connection relationships, or specific structures of the various components. Figure 1 is merely a schematic diagram of the structure of the water-removing base station 200 according to an embodiment of this application, and does not constitute a specific limitation on the water-removing base station 200. In other embodiments of this application, the water-removing base station 200 may include more or fewer mechanisms than shown in Figure 1, or a combination of certain mechanisms, or different mechanisms. For example, the water-removing base station 200 may also include, but is not limited to, a communication mechanism. The communication mechanism is used to connect with a smart terminal to control the water-removing base station 200 to automatically control the towing mechanism 30 to drive the cleaning robot 100 into or out of the water pool.

[0045] Please refer to Figures 1 through 4. Figure 2 is a structural schematic diagram of the cleaning system 1000 and the water tank 1a in Figure 1 in a second state; Figure 3 is a side view of the first embodiment of the water-removing base station 200 of the cleaning system 1000 in Figure 1 when the towing mechanism 30 is rotated to the vertical direction Y; Figure 4 is an enlarged view of part I of the water-removing base station 200 in Figure 3. The water-removing base station 200 is used to drive the cleaning robot 100 into or out of the water tank 1a. The water-removing base station 200 includes a base station body 10 and a towing mechanism 30. The towing mechanism 30 is movably connected to the base station body 10 to switch between a first state and a second state. In the first state, the towing mechanism 30 is at least partially below the liquid surface of the water tank 1a. In the second state, the towing mechanism 30 is above the liquid surface of the water tank 1a. The towing mechanism 30 has a receiving slot 301 for accommodating the cleaning robot 100, and when the towing mechanism 30 moves to a vertical position relative to the base station body 10, there is a gap 306 between the towing mechanism 30 and the base station body 10.

[0046] The water-removing base station 200 proposed in this application embodiment includes a base station body 10 and a towing mechanism 30. The towing mechanism 30 is movably connected to the base station body 10 to switch between a first state and a second state. In the first state, the towing mechanism 30 is at least partially below the liquid surface of the water tank 1a, and in the second state, the towing mechanism 30 is above the liquid surface of the water tank 1a. The towing mechanism 30 has a receiving groove 301 for accommodating a cleaning robot 100. When the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, there is a gap 306 between the towing mechanism 30 and the base station body 10. The towing mechanism 30 proposed in this application has a gap 306 between itself and the base station body 10 when it moves relative to the base station body 10 in the vertical direction Y. Even if the side wall 12a of the water tank 1a is tilted inwards towards the bottom wall of the water tank 1a, or if the towing mechanism 30 reaches its limit position and cannot fit against the side wall 12a of the water tank 1a due to installation errors of the base station 200, the towing mechanism 30 can still continue to move relative to the base station body 10 in the vertical direction Y because there is a margin of movement between the contact surface 305 of the towing mechanism 30 and the base station body 10. The base station body 10 is rotated so that the towing mechanism 30 fits against the side wall 12a of the inclined water tank 1a; and when the side wall 12a of the water tank 1a is parallel to the vertical direction Y or the side wall 12a of the water tank 1a is tilted outward toward the bottom wall of the water tank 1a, the towing mechanism 30 can also move relative to the base station body 10 to fit completely against the side wall 12a of the water tank 1a, thereby enriching the usage scenarios of the water-removing base station 200, improving the stability and reliability of the movement of the cleaning robot 100 relative to the towing mechanism 30, and reducing the rigid damage caused by the pressure exerted by the towing mechanism 30 on the base station body 10 during the movement.

[0047] The towing mechanism 30 also has an abutment surface 305. Exemplarily, in this embodiment, the abutment surface 305 is a plane. This planar design reduces manufacturing difficulty and improves the support performance of the base station body 10 for the towing mechanism 30 in the water-free state. In a first state, the abutment surface 305 abuts against the side wall 12a of the pool 1a. In a second state, the abutment surface 305 faces the base station body 10 and abuts against it. The receiving groove 301 is located on the side of the towing mechanism 30 facing away from the base station body 10. It should be noted that the movement of the towing mechanism 30 relative to the base station body 10 to the vertical direction Y means that the towing mechanism 30 moves relative to the base station body 10 to a position where the abutment surface 305 is parallel to the vertical direction Y. In the embodiments of the application, descriptions such as parallel and perpendicular may include cases where approximately parallel and approximately perpendicular are caused by manufacturing errors, measurement errors, etc. For example, the parallelism between the contact surface 305 and the vertical direction Y, as described herein, can include the case where the contact surface 305 is completely parallel to the vertical direction Y, or the case where the contact surface 305 is approximately parallel to the vertical direction Y. Of course, the movement of the towing mechanism 30 relative to the base station body 10 to the vertical direction Y can also refer to the state where the first rotating member 52 rotates relative to the base station body 10 to the extreme position where the towing mechanism 30 moves relative to the base station body 10 to the water tank 1a.

[0048] For accuracy, all references to direction in this document should be made to Figure 3. The term "horizontal direction X" refers to the direction perpendicular to the depth of the water tank 1a, i.e., the left-right direction (with the positive X-axis pointing to the right). The term "vertical direction Y" can refer to the depth of the water tank 1a, i.e., the up-down direction in Figure 1 (with the positive Y-axis pointing upwards). The horizontal direction X and the vertical direction Y together constitute the two orthogonal directions of the water-based base station 200. For ease of description, the up-down and left-right orientations in this application are relative positions and do not constitute a limitation on implementation. The horizontal direction X and vertical direction Y of the water-based base station 200 can be customized according to the specific structure of the product and the viewing angle presented in the accompanying drawings; this application does not impose specific limitations.

[0049] In the first state, the towing mechanism 30 and the base station body 10 are arranged in the horizontal direction X; in the second state, the towing mechanism 30 and the base station body 10 are stacked in the vertical direction Y. Thus, in the first state, the towing mechanism 30 and the base station body 10 are arranged in the horizontal direction X, allowing for a rotatable connection. The towing mechanism 30 can adjust its angle around the connecting axis with the base station body 10, so that the contact surface 305 of the towing mechanism 30 abuts against the side wall 12a of the water tank 1a. This improves the stability and reliability of the cleaning robot 100's movement relative to the towing mechanism 30. In the second state, the towing mechanism 30 and the base station body 10 are stacked in the vertical direction Y, improving the structural compactness of the water-removing base station 200, reducing its footprint, and facilitating user access to and removal of the cleaning robot 100.

[0050] The pool 1a includes a bank 11a and a sidewall 12a connected to the bank 11a. It should be noted that the term "bank 11a of pool 1a" refers to the edge of the water body in pool 1a, i.e., the land next to pool 1a. Exemplarily, in this embodiment, the base station body 10 is disposed on the bank of pool 1a. Specifically, the bottom surface of the base station body 10 is fixedly disposed on the top edge wall of pool 1a. The base station body 10 is used to support the towing mechanism 30 when the towing mechanism 30 is in the second state. Thus, during water-based cleaning or water-based maintenance operations, it is convenient for the user to place or remove the cleaning robot 100 from the base station body 10. The base station body 10 can be fixed to the top edge wall of pool 1a by means of suction cups, bolts, or other locking structures. The base station body 10 can also be fixed to the top edge wall of pool 1a by means of adhesive, welding to the metal structure surface of the top edge wall of pool 1a, etc. The specific method of fixing the base station body 10 to the top edge wall of pool 1a is not limited in this embodiment. Of course, in some embodiments, the base station body 10 can also be fixed to the edge of the pool 1a by a support frame.

[0051] In this embodiment, for example, the edge of the base station body 10 facing the pool 1a is aligned with and connected to the side wall 12a of the pool 1a, thereby facilitating the alignment and assembly of the base station body 10 and the pool 1a. When the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the towing mechanism 30 is spaced apart from the side wall 12a of the pool 1a, that is, the abutment surface 305 of the towing mechanism 30 is spaced apart from the side wall 12a of the pool 1a. The distance between the abutment surface 305 and the side wall 12a of the pool 1a is within a preset value, so that the cleaning robot 100 can move onto the towing mechanism 30 from the side wall 12a of the pool 1a. Therefore, when the cleaning robot 100 moves upward on the towing mechanism 30, the force applied to the towing mechanism 30 causes the towing mechanism 30 to rotate towards the side closer to the base station body 10, and allows the towing mechanism 30 to fit tightly against the side wall 12a of the water tank 1a, improving the stability and reliability of the movement of the cleaning robot 100 relative to the towing mechanism 30. Of course, when the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the towing mechanism 30 can also be driven by the power device or its own generated torque to rotate towards the side closer to the base station body 10, and allow the towing mechanism 30 to fit tightly against the side wall 12a of the water tank 1a.

[0052] Of course, in some embodiments, the edge of the base station body 10 facing the pool 1a is spaced apart from the side wall 12a of the pool 1a. When the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the towing mechanism 30 abuts against the side wall 12a of the pool 1a, that is, the contact surface 305 of the towing mechanism 30 is in contact with the side wall 12a of the pool 1a. This facilitates the smooth movement of the cleaning robot 100 from the side wall 12a of the pool 1a onto the towing mechanism 30.

[0053] In some embodiments, a charging mechanism 15 is provided on the base station body 10. The charging mechanism 15 is used to charge the cleaning robot 100. The charging mechanism 15 can be connected to a power supply battery or to mains power. The power supply battery can be a rechargeable battery or a disposable battery. Thus, the base station body 10 can provide a power source for the cleaning robot 100, ensuring the normal operation of the cleaning robot 100. Specifically, the bottom of the towing mechanism 30 is provided with a through hole 309 that penetrates the bottom of the receiving groove 301, and the charging mechanism 15 passes through the through hole 309 and extends into the receiving groove 301.

[0054] Please refer to Figures 1, 2, and 5 together. Figure 5 is a structural schematic diagram of the water-removing base station 200 in the cleaning system 1000 in Figure 1. The towing mechanism 30 includes a towing seat 31 and a movable baffle 32. The movable baffle 32 is movably connected to the towing seat 31. The towing seat 31 is provided with a receiving groove 301 and an opening 302 communicating with the receiving groove 301. The receiving groove 301 is used to receive the cleaning robot 100. The opening 302 is used for the cleaning robot 100 to pass through, so that the cleaning robot 100 can move onto or off the towing mechanism 30. The movable baffle 32 is rotatably disposed on the towing seat 31 at a position corresponding to the opening 302, and is used to close or open the opening 302. When the movable baffle 32 closes the opening 302, the cleaning robot 100 is confined within the receiving slot 301 of the towing mechanism 30, allowing the towing mechanism 30, together with the cleaning robot 100, to move onto the base station body 10, thereby enabling the cleaning robot 100 to leave the pool 1a. When the movable baffle 32 opens the opening 302, the cleaning robot 100 can move through the opening 302 into or from the receiving slot 301 away from the towing mechanism 30.

[0055] Of course, in some embodiments, the towing mechanism 30 may omit the movable baffle 32, that is, the towing mechanism 30 only includes the towing seat 31. A locking structure and an unlocking structure may be provided on the towing seat 31. The locking structure is used to lock the cleaning robot 100 onto the towing seat 31. The unlocking structure is used to unlock the cleaning robot 100 locked onto the towing seat 31.

[0056] When the cleaning robot 100 needs to perform cleaning tasks on the swimming pool, it is placed on the receiving slot 301 of the towing mechanism 30, and the towing mechanism 30 is driven to move relative to the base station body 10, so that the cleaning robot 100 moves towards the water surface of the swimming pool until the towing mechanism 30 is in contact with the side wall 12a of the swimming pool. After the towing mechanism 30 is in contact with the side wall 12a of the swimming pool, the movable baffle 32 provided on the towing mechanism 30 is driven to open the opening 302, so that the cleaning robot 100 falls into the water of the swimming pool, thereby realizing the automatic entry of the cleaning robot 100 into the water. After the cleaning robot 100 completes its cleaning task in the pool 1a, it will move upward along the side wall 12a of the swimming pool until it moves to the position of the towing mechanism 30. The cleaning robot 100 enters the receiving slot 301 provided on the towing mechanism 30 through the opening 302 provided on the towing mechanism 30. After the cleaning robot 100 is fully inside, the movable baffle 32 closes the opening 302. The towing mechanism 30 moves relative to the base station body 10 to drive the cleaning robot 100 away from the water surface until the towing mechanism 30 is stacked on the base station body 10, thereby realizing the automatic removal of the cleaning robot 100 from the shore in the swimming pool.

[0057] Referring again to Figures 1 and 4, exemplarily, in this embodiment, the water-based base station 200 further includes a first rotating member 52. The towing mechanism 30 has a connecting end 311 and a free end 312 disposed opposite to each other. The connecting end 311 is movably connected to the base station body 10 via the first rotating member 52. The connecting end 311 and the first rotating member 52 are rotatable relative to each other. Therefore, the connecting end 311 is movably connected to the base station body 10 via the first rotating member 52, and the connecting end 311 and the first rotating member 52 can rotate relative to each other. On the one hand, when the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the towing mechanism 30 can rotate towards the side closer to the base station body 10 under the force applied during the cleaning robot 100's movement towards the towing mechanism 30 or water spraying operations, so that the gap 306 between the towing mechanism 30 and the base station body 10 is reduced, and the towing mechanism 30 can be tightly fitted to the side wall 12a of the pool 1a, improving the stability and reliability of the cleaning robot 100's movement relative to the towing mechanism 30. On the other hand, when there are foreign objects on the base station body 10, the user can lift the free end 312 to remove the foreign objects, improving the safety and reliability of the cleaning system 1000. Of course, in some embodiments, the connecting end 311 and the base station body 10 can also be slidably connected to achieve a change in the position of the towing mechanism 30 relative to the base station body 10.

[0058] For example, in this embodiment, in the first state, the towing mechanism 30 is abutted against the side wall 12a of the pool 1a. Specifically, the free end 312 of the towing mechanism 30 abuts against the side wall 12a of the pool 1a, thereby facilitating the movement of the cleaning robot 100 into the receiving slot 301 of the towing mechanism 30. Of course, in some embodiments, in the first state, the free end 312 of the towing mechanism 30 and the side wall 12a of the pool 1a may be spaced apart by a preset distance. When the preset distance is small enough, the cleaning robot 100 can pass through the gap between the free end 312 of the towing mechanism 30 and the side wall 12a of the pool 1a and move into the receiving slot 301 of the towing mechanism 30.

[0059] Please refer to Figures 1 and 6 together. Figure 6 is a side view of the water-removing base station 200 in the cleaning system 1000 of Figure 3 in its first state. In this embodiment, the towing mechanism 30 and the cleaning robot 100 form a towing assembly 300. When the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the pivot point of the first rotating member 52 and the connecting end 311 is located between the center of gravity of the towing assembly 300 and the base station body 10. Therefore, when the towing mechanism 30 moves to the vertical direction Y relative to the base station body 10, the pivot point of the first rotating member 52 and the connecting end 311 is spaced apart from the center of gravity of the towing assembly 300 in the vertical direction Y, and the pivot point of the first rotating member 52 and the connecting end 311 is located between the center of gravity of the towing assembly 300 and the base station body 10, so that the towing assembly 300 is subjected to a torque toward the base station body 10. Therefore, under the action of torque, the towing assembly 300 rotates toward the side closer to the base station body 10, so that the towing mechanism 30 can better fit with the side wall 12a of the pool 1a, improving the stability and reliability of the movement of the cleaning robot 100 relative to the towing mechanism 30, and shortening the movement path of the towing mechanism 30 relative to the base station body 10. Of course, in some embodiments, the pivot point of the first rotating member 52 and the connecting end 311 may coincide with the center of gravity of the towing assembly 300 in the vertical direction Y. The towing mechanism 30 applies a force to the towing mechanism 30 to rotate toward the base station body 10 through other structures.

[0060] Specifically, as shown in Figure 6, the first rotating member 52 and the connecting end 311 are rotatably connected via a first pivot 41. The pivot point of the first rotating member 52 and the connecting end 311 is the axis of the first pivot 41. Understandably, since the center of gravity of the towing assembly 300 is located to the right of the pivot point of the first rotating member 52 and the connecting end 311, when the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, the towing assembly 300 continues to move to the left under the action of torque, so that the center of the towing assembly 300 and the pivot point of the first rotating member 52 and the connecting end 311 are collinear in the vertical direction Y. The dashed circle represents the path of the towing assembly 300 swinging around the first pivot 41. At this time, the contact surface 305 forms an angle α with the vertical direction Y. The angle α is an acute angle.

[0061] For example, in this embodiment, when the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, the projection of the end of the connecting end 311 connected to the first rotating member 52 along the vertical direction Y is located within the projection of the base station body 10 along the vertical direction Y. This enhances the structural strength of the connecting end 311, extends the service life of the towing mechanism 30, facilitates the manufacturing of the towing mechanism 30, and improves the aesthetics of the towing mechanism 30.

[0062] In some embodiments, when the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, the end of the connecting end 311 connected to the first rotating member 52 is located on the side of the connecting end 311 closer to the base station body 10. Therefore, on the one hand, since the end of the connecting end 311 connected to the first rotating member 52 is located on the side of the connecting end 311 closer to the base station body 10, and the pivot point of the connecting end 311 and the first rotating member 52 is spaced apart from the center of gravity of the towing assembly 300 in the vertical direction Y, the towing mechanism 30 rotates around the pivot point of the connecting end 311 and the first rotating member 52 towards the side closer to the base station body 10 under the action of gravity, so that the towing mechanism 30 can better fit with the side wall 12a of the pool 1a, improving the stability and reliability of the movement of the cleaning robot 100 relative to the towing mechanism 30, and shortening the movement path of the towing mechanism 30 relative to the base station body 10; on the other hand, it avoids the problem of interference between the connecting end 311 and the base station body 10 during the movement of the towing mechanism 30 to the base station body 10, improving the reliability and safety of the movement of the towing mechanism 30.

[0063] In some embodiments, when the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, the connecting end 311 extends towards the side closer to the base station body 10 and is located above the base station body 10, with the first pivot 41 connected to the side of the connecting end 311 away from the abutment surface 305. Specifically, when the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, the projection of the end of the connecting end 311 connected to the first rotating member 52 along the vertical direction Y lies within the projection of the base station body 10 along the vertical direction Y. This increases the distance between the pivot point of the connecting end 311 and the first rotating member 52 and the center of gravity of the towing assembly 300, thereby increasing the torque force on the towing assembly 300. Therefore, the towing assembly 300 rotates better towards the side closer to the base station body 10 under the action of the torque force, allowing the towing mechanism 30 to better fit against the side wall 12a of the pool 1a.

[0064] Referring again to Figures 1 and 5, the towing mechanism 30 also includes a main body 313. The main body 313 is connected between the connecting end 311 and the free end 312. The connecting end 311 is located in the middle of the end of the main body 313 facing away from the free end 312. This improves the uniformity of force distribution in the towing mechanism 30, resulting in a simple and compact structure. The connecting end 311 includes a plurality of spaced-apart first reinforcing ribs 3111 and at least one second reinforcing rib 3112 connecting the plurality of first reinforcing ribs 3111. A first pivot 41 is fixedly connected to the connecting end 311. For example, the first pivot 41 and the connecting end 311 can be integrally formed or detachably connected. Specifically, the first pivot 41 is connected to the plurality of first reinforcing ribs 3111 and at least one second reinforcing rib 3112.

[0065] Please refer to Figures 1, 4, and 7 together. Figure 7 is a side view of the second embodiment of the water-removing base station 200 of the cleaning system 1000 in Figure 1 when the towing mechanism 30 is rotated to the vertical direction Y. The structure of the water-removing base station 200 in the second embodiment is similar to that in the first embodiment. The difference is that in the second embodiment, the water-removing base station 200 also includes an elastic member 46. When the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, the two ends of the elastic member 46 are respectively connected to the first rotating member 52 and the towing mechanism 30, and are used to provide an elastic force that causes the towing mechanism 30 to move toward the base station body 10. Therefore, when the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the towing mechanism 30 can rotate relative to the base station body 10 towards the side closer to the base station body 10 through the elastic force generated by the elastic element 46, allowing the towing mechanism 30 to fit tightly against the side wall 12a of the pool 1a. This improves the stability and reliability of the cleaning robot's movement relative to the towing mechanism 30, and reduces rigid damage caused by the pressure exerted by the towing mechanism 30 on the base station body 10 during its movement. Exemplarily, in this embodiment, the elastic element 46 is configured as a spring. Of course, in some embodiments, the elastic element 46 can also be configured as, but is not limited to, at least one of a torsion spring, a sheet spring, a bellows, etc.

[0066] In this embodiment, the two ends of the elastic member 46 are fixedly disposed relative to the first rotating member 52 and the towing mechanism 30, respectively. This improves the reliability of the connection between the elastic member 46 and the first rotating member 52 and the towing mechanism 30, and simplifies the structure.

[0067] In some embodiments, one end of the elastic member 46 is movable away from the first rotating member 52 or the towing mechanism 30. In other words, one end of the elastic member 46 is fixedly disposed relative to one of the first rotating member 52 and the towing mechanism 30, and the other end of the elastic member 46 is fixedly disposed relative to the other of the first rotating member 52 and the towing mechanism 30. This avoids the problem of the elastic force generated by the elastic member 46 increasing the resistance to the movement of the towing mechanism 30 relative to the base station body 10, improves the smoothness and reliability of the movement of the towing mechanism 30 relative to the base station body 10, prevents excessive deformation of the elastic member 46, and extends the service life of the elastic member 46.

[0068] Specifically, when the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the two ends of the elastic member 46 are connected to the first rotating member 52 and the towing mechanism 30 respectively, so that the elastic force generated by the elastic member 46 can drive the towing mechanism 30 to rotate relative to the first rotating member 52 toward the base station body 10. When the towing mechanism 30 switches from the first state to the second state, the elastic member 46 can be disconnected from the first rotating member 52 or the towing mechanism 30, so that the elastic force generated by the elastic member 46 can no longer act between the first rotating member 52 and the towing mechanism 30, which facilitates the movement of the towing mechanism 30 relative to the base station body 10.

[0069] Please refer to Figures 1, 7, and 8 together. Figure 8 is a side view of the third embodiment of the water-removing base station 200 of the cleaning system 1000 in Figure 1 when the towing mechanism 30 is rotated to the vertical direction Y. The structure of the water-removing base station 200 in the third embodiment is similar to that in the second embodiment. The difference is that in the third embodiment, the water-removing base station 200 also includes a deflector 47. The deflector 47 is fixedly disposed relative to the first rotating member 52 or the towing mechanism 30, and the deflector 47 is used to deflect one end of the elastic member 46 away from the connection with the first rotating member 52 or the towing mechanism 30. Thus, the arrangement of the deflector 47 facilitates the engagement or disengagement of one end of the elastic member 46 with the first rotating member 52 or the towing mechanism 30.

[0070] In this embodiment, for example, the actuating member 47 and the elastic member 46 are independently arranged and fixedly connected. One end of the actuating member 47 is fixedly connected to one of the first rotating member 52 and the towing mechanism 30, and the other end of the actuating member 47 is detachably attached to the overlapping portion 48 provided on the other of the first rotating member 52 and the towing mechanism 30.

[0071] Specifically, the actuating member 47 includes a connecting portion 471 and an actuating portion 472. The connecting portion 471 is fixedly connected to the first rotating member 52, and the actuating portion 472 is connected to the connecting portion 471 via an elastic member 46. When the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the actuating portion 472 overlaps with the overlapping portion 48, so that the elastic force generated by the elastic member 46 can act on the towing mechanism 30, causing the towing mechanism 30 to rotate relative to the first rotating member 52 towards one side of the base station body 10. The overlapping portion 48 is configured as a columnar structure, and the actuating portion 472 is configured as an arc-shaped hook structure. This facilitates the reliability and smoothness of the overlap between the actuating member 47 and the overlapping portion 48. Of course, in other embodiments, the overlapping portion 48 can also be configured as a columnar structure, and the shape of the actuating portion 472 is adapted to the overlapping portion 48.

[0072] Of course, in some embodiments, the actuating element 47 and the elastic element 46 are integrated into a single structure. For example, the middle portion of the actuating element 47 is configured as an elastic telescopic end.

[0073] Please refer to Figures 1, 8, and 9 together. Figure 9 is a side view of the fourth embodiment of the water-removing base station 200 of the cleaning system 1000 in Figure 1 when the towing mechanism 30 is rotated to the vertical direction Y. The structure of the water-removing base station 200 in the fourth embodiment is similar to that in the third embodiment. The difference is that in the fourth embodiment, the water-removing base station 200 also includes a sliding member 49. The sliding member 49 is connected to one of the first rotating member 52 and the towing mechanism 30 through an elastic member 46, and is slidably disposed relative to one of the first rotating member 52 and the towing mechanism 30. The actuating member 47 is fixed to the other of the first rotating member 52 and the towing mechanism 30, and is detachably attached to the sliding member 49. When the towing mechanism 30 moves to the vertical direction Y relative to the base station body 10, the elastic member 46 is connected to the first rotating member 52 and the towing mechanism 30 respectively through the sliding member 49 and the actuating member 47. When the actuating member 47 moves away from the sliding member 49, the elastic member 46 disengages from the first rotating member 52 or the towing mechanism 30. Thus, the sliding member 49 and the elastic member 46 cooperate to improve the smoothness and reliability of the movement of the towing mechanism 30 relative to the base station body 10.

[0074] In this embodiment, for example, the actuating member 47 is fixed to the first rotating member 52. The sliding member 49 is slidably disposed relative to the towing mechanism 30. The elastic member 46 is connected between the towing mechanism 30 and the sliding member 49, at which time the actuating member 47 overlaps the end of the sliding member 49 facing away from the elastic member 46.

[0075] Of course, in some embodiments, the slider 49 can be connected between the towing mechanism 30 and the elastic member 46. In this case, the actuating member 47 overlaps the end of the slider 49 near the elastic member 46. In other embodiments, the actuating member 47 can also be fixed to the towing mechanism 30, and the elastic member 46 can be connected between the first rotating member 52 and the slider 49, with the slider 49 slidably disposed relative to the first rotating member 52.

[0076] In some embodiments, one of the first rotating member 52 and the towing mechanism 30 is provided with a groove 4901, and the sliding member 49 and the elastic member 46 are slidably disposed within the groove 4901. Thus, the groove 4901 can guide the movement of the sliding member 49 and the elastic member 46 relative to one of the first rotating member 52 and the towing mechanism 30, improving the safety and reliability of the water-based base station 200.

[0077] Please refer to Figures 7 to 9. When the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the elastic member 46 is connected between the connecting end 311 and the first rotating member 52. The actuating member 47 or the sliding member 49 is disposed at the end of the first rotating member 52 near the towing mechanism 30; or, disposed at the connecting end 311, thereby avoiding the problem of interference between the elastic member 46, the actuating member 47, or the sliding member 49 and the movement of the towing mechanism 30 relative to the base station body 10.

[0078] Please refer to Figures 1 and 4 together. When the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the end of the first rotating member 52 connected to the connecting end 311 protrudes from the end of the base station body 10 near the towing mechanism 30. This increases the lever arm between the two pivot points of the first rotating member 52 and the towing mechanism 30 and the base station body 10, thus saving time and effort during the movement of the towing mechanism 30 relative to the base station body 10 and improving the water removal and discharge efficiency of the cleaning robot 100. Furthermore, it makes the spatial arrangement of the first rotating member 52, the base station body 10, and the towing mechanism 30 compact and reasonable, and facilitates the first rotating member 52 in driving the towing mechanism 30 to rotate towards one side of the base station body 10.

[0079] Please refer to Figures 1, 5, and 10 together. Figure 10 is a partial cross-sectional view of the cleaning system 1000 in Figure 1. In some embodiments, the water-removing base station 200 further includes a drive member 51. The drive member 51 is disposed on the base station body 10 and is convexly connected to the first rotating member 52. The drive member 51 is used to drive the first rotating member 52 to rotate, so that the towing mechanism 30 moves relative to the base station body 10. Thus, on the one hand, the water-removing base station 200 drives the cleaning robot 100 to automatically perform water removal and water entry operations, eliminating the trouble of manual operation, saving time and labor costs, and improving the safety of the cleaning robot 100; on the other hand, the drive member 51 is installed on the base station body 10, so that the towing mechanism 30 can be supported by the base station body 10 during the process of lifting back to the base station body 10, thereby reducing the pressure exerted by the towing mechanism 30 and the cleaning robot 100 on the first rotating member 52 and extending the service life of the drive member 51.

[0080] In some embodiments, the water-based base station 200 further includes a second rotating member 53. One end of the second rotating member 53 is rotatably connected to the first rotating member 52, and the other end of the second rotating member 53 is rotatably connected to the driving member 51. This reduces the space occupied by the transmission of the driving member 51, the first rotating member 52, and the second rotating member 53, and improves the transmission efficiency of the driving member 51. Specifically, the driving member 51 is installed inside the base station body 10. The end of the first rotating member 52 facing away from the towing mechanism 30 is rotatably connected to the base station body 10 via a third pivot 43. One end of the second rotating member 53 is rotatably connected to the driving member 51 via a second pivot 42, and the other end of the second rotating member 53 is rotatably connected to the middle portion of the first rotating member 52 via a fourth pivot 44.

[0081] The base station body 10 is provided with a movable hole 101, and the first rotating component 52 and the second rotating component 53 are movably inserted into the movable hole 101. This improves the structural compactness of the water-removing base station 200, reduces its footprint, and allows the base station body 10 to support the towing mechanism 30 during its return to the base station body 10. This reduces the pressure exerted on the first rotating component 52 by the towing mechanism 30 and the cleaning robot 100, and extends the service life of the drive component 51.

[0082] In this embodiment, two first rotating members 52 are provided, and the two first rotating members 52 are respectively connected to the two ends of the connecting end 311, thereby improving the stability and reliability of the movement of the towing mechanism 30 relative to the base station body 10. Of course, one or more first rotating members 52 can also be provided, and this embodiment does not make a specific limitation. For example, when there is one first rotating member 52, the first rotating member 52 can be connected to the middle of the connecting end 311. The number of second rotating members 53 corresponds one-to-one with the number of first rotating members 52.

[0083] In this embodiment, two second rotating members 53 are provided, and the two second rotating members 53 are connected by a third pivot 43, thereby improving the stability and reliability of the transmission between the first rotating member 52 and the second rotating member 53.

[0084] The driving component 51 includes a drive motor 511, a lead screw 512, and a slider 513. The drive motor 511 is connected to the lead screw 512. The slider 513 is screwed to the lead screw 512 and connected to the second rotating component 53. Thus, the drive motor 511 drives the lead screw 512 to rotate, thereby causing the slider 513 to slide. The sliding of the slider 513 causes the first rotating component 52 and the second rotating component 53 to rotate, so as to realize that the towing mechanism 30 is lifted back onto the base station body 10 or flipped from the base station body 10 into the water tank 1a.

[0085] Please refer to Figures 1, 4, and 11 together. Figure 11 is a structural schematic diagram of the base station body 10 of the water-removing base station 200 in the cleaning system 1000 of Figure 1. In some embodiments, the water-removing base station 200 further includes a support member 60. The support member 60 is rotatably disposed at the end of the base station body 10 near the water tank 1a and abuts against the towing mechanism 30. Thus, when the towing mechanism 30 rotates relative to the base station body 10, the support member 60 can provide sliding support for the towing mechanism 30, reduce wear between the towing mechanism 30 and the base station body 10, and reduce the pressure exerted by the towing assembly 300 on the charging mechanism 15, thereby extending the service life of the water-removing base station 200.

[0086] In some embodiments, when the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, the support member 60 protrudes from the side of the base station body 10 facing the towing mechanism 30. This allows for some movement between the towing mechanism 30 and the base station body 10 when the contact surface 305 is perpendicular to the vertical direction Y. Therefore, when the towing mechanism 30 rotates to this position, if the contact surface 305 is not in contact with the side wall 12a of the pool 1a, the towing mechanism 30 can continue to rotate relative to the base station body 10 to make it contact the inclined side wall 12a of the pool 1a. This improves the stability and reliability of the cleaning robot 100's movement relative to the towing mechanism 30, and reduces rigid damage caused by the pressure exerted by the towing mechanism 30 on the base station body 10 during movement. In some embodiments, the towing mechanism 30 protrudes from the base station body 10 in the vertical direction Y. Thus, the load-bearing component 60 can support the towing mechanism 30 throughout the process of the towing mechanism 30 driving the cleaning robot 100 to the base station body 10, reduce the wear between the towing mechanism 30 and the base station body 10, reduce the pressure exerted by the towing mechanism 30 and the cleaning robot 100 on the first rotating component 52, and extend the service life of the drive component 51.

[0087] In some embodiments, the carrier 60 is configured as an elastic structure; or, the sidewalls of the carrier 60 are provided with an elastic structure. Thus, the elastic structure can absorb the pressure exerted on the carrier 60 by the towing mechanism 30 through elastic deformation force, extending the service life of both the carrier 60 and the towing mechanism 30.

[0088] For example, in this embodiment, a mounting groove 102 is provided on the top of the end of the base station body 10 near the water tank 1a, and the support member 60 is rotatably mounted in the mounting groove 102. Thus, on the one hand, the mounting groove 102 improves the space utilization of the support member 60 within the base station body 10, resulting in a compact structure; on the other hand, the mounting groove 102 being located on the top of the end of the base station body 10 near the water tank 1a ensures that the support member 60 can consistently support the towing mechanism 30 as it moves the cleaning robot 100 to the base station body 10, reducing wear between the towing mechanism 30 and the base station body 10, and reducing the pressure exerted by the towing mechanism 30 and the cleaning robot 100 on the first rotating member 52, thereby extending the service life of the drive member 51.

[0089] In this embodiment, the base station body 10 includes a support platform 11 and a mounting platform 13. The support platform 11 is provided with a support surface 1101 for supporting the cleaning robot 100 and is inclined. The mounting platform 13 is connected to the side of the support platform 11 near the water tank 1a. The mounting platform 13 includes a first mounting surface 1301 and a second mounting surface 1302. The first mounting surface 1301 is connected between the support surface 1101 and the second mounting surface 1302 and is set at an angle α with the support surface 1101. The mounting groove 102 passes through the first mounting surface 1301 and the second mounting surface 1302. Thus, on the one hand, the mounting platform 13 can enhance the structural strength of the end of the base station body 10 near the water tank 1a, extend the service life of the base station body 10, and facilitate the installation of the carrier 60; on the other hand, the support surface 1101 is inclined towards the water tank 1a, which helps the drainage function of the water-removing base station 200 and avoids water accumulation that could damage the water-removing base station 200 and the cleaning robot 100. Of course, in some embodiments, the mounting groove 102 may only penetrate the first mounting surface 1301 or the second mounting surface 1302 of the mounting platform 13; or, the mounting groove 102 may also penetrate the first mounting surface 1301 or the second mounting surface 1302 and the bottom surface of the base station body 10. The embodiments of this application do not make specific limitations.

[0090] In some embodiments, the mounting platform 13 further includes an arc surface 1303 connecting the first mounting surface 1301 and the second mounting surface 1302. This reduces wear between the towing mechanism 30 and the base station body 10, and improves the smoothness and reliability of the movement of the towing mechanism 30 relative to the base station body 10.

[0091] Two support members 60 can be configured, with each support member 60 installed at one of the two ends of the base station body 10. This helps to distribute the load borne by both ends of the base station body 10, reduce stress concentration at single points, thereby extending the service life of the base station body 10 and improving the stability and smoothness of the movement of the towing mechanism 30 relative to the base station body 10. Of course, in some embodiments, one or more support members 60 can be configured, and this application does not specifically limit the embodiments. For example, when there is only one support member 60, it can be installed in the middle of the base station body 10.

[0092] Please refer to Figures 1, 4, and 12 together. Figure 12 is a side view of another embodiment of the water-removing base station 200 in Figure 4. In some embodiments, the abutment surface 305 is provided with a clearance groove 307 that avoids the base station body 10. Specifically, when the towing mechanism 30 moves relative to the base station body 10 to the vertical Y direction, the towing mechanism 30 has an abutment surface 305 facing the base station body 10, and the clearance groove 307 is provided at the position of the abutment surface 305 corresponding to the base station body 10. Therefore, on the one hand, the setting of the avoidance groove 307 can leave sufficient room for movement between the towing mechanism 30 and the base station body 10. Thus, when the side wall 12a of the pool 1a is inclined towards the bottom wall of the pool 1a, the towing mechanism 30 can continue to rotate relative to the base station body 10 after moving to the vertical direction Y, so that the towing mechanism 30 fits against the inclined side wall 12a of the pool 1a. This improves the stability and reliability of the movement of the cleaning robot 100 relative to the towing mechanism 30, and reduces the rigid damage caused by the pressure exerted by the towing mechanism 30 on the base station body 10 during the movement. On the other hand, it prevents the shape of the end of the base station body 10 near the pool 1a from being changed to accommodate the rotation of the towing mechanism 30, so that the end of the base station body 10 near the pool 1a has good structural strength.

[0093] The diameter of the carrier 60 is larger than the width of the clearance groove 307. This avoids the problem of the carrier 60 getting stuck in the clearance groove 307 due to its excessive width, thus affecting the movement of the towing mechanism 30 toward the base station body 10. Of course, in some embodiments, the diameter of the carrier 60 may be less than or equal to the width of the clearance groove 307.

[0094] In some embodiments, the clearance groove 307 can be configured as an arc groove to avoid the problem that the carrier 60 gets stuck in the clearance groove 307 and affects the movement of the towing mechanism 30 relative to the base station body 10, thereby improving the reliability and smoothness of the movement of the towing mechanism 30 relative to the base station body 10.

[0095] In some embodiments, when the towing mechanism 30 moves relative to the base station body 10 to the vertical direction Y, the carrier 60 is located above the clearance groove 307. This achieves clearance between the clearance groove 307 and the base station body 10, preventing interference between the towing mechanism 30 and the base station body 10 during rotation, and facilitating the smooth passage of the portion of the towing mechanism 30 corresponding to the clearance groove 307 over the carrier 60.

[0096] As shown in Figure 9, in some embodiments, the abutment surface 305 includes a first wall surface 3051 and two second wall surfaces 3052, which are respectively connected to both ends of the first wall surface 3051. The first wall surface 3051 is configured as an arc surface, and each second wall surface 3052 is configured as a plane. In other embodiments, the abutment surface 305 is configured as an arc surface. Therefore, the arc surface design can reduce the resistance of the towing mechanism 30 relative to the base station body 10, improving the smoothness and stability of the towing mechanism 30 moving to the base station body 10.

[0097] Please refer to Figures 2, 10, and 13 together. Figure 13 is an enlarged view of the cleaning system 1000 in Figure 2. The cleaning robot 100 includes a body 110, a walking mechanism 120, a control mechanism 130, and a cleaning mechanism 140. The walking mechanism 120 and the cleaning mechanism 140 are rotatably mounted on the body 110. The control mechanism 130 is connected to the cleaning mechanism 140 and is used to control the operation of the walking mechanism 120 and the cleaning mechanism 140. Thus, the cleaning robot 100 can achieve automatic cleaning, reduce labor costs, and improve work efficiency.

[0098] In some embodiments, the towing mechanism 30 further includes a rotating mechanism 33. The rotating mechanism 33 is rotatably disposed within the receiving groove 301 and is used to roll against the walking mechanism 120 of the cleaning robot 100. Thus, the towing seat 31 contacts the cleaning robot 100 through rotation, converting the sliding friction between the cleaning robot 100 and the towing seat 31 into rolling friction, thereby reducing wear on both the cleaning robot 100 and the towing seat 31 and extending the service life of the water station 200. Specifically, the receiving groove 301 has a first groove wall opposite to the opening 302, and the rotating mechanism 33 is mounted on the first groove wall and is rotatable relative to the towing seat 31. The number of rotating mechanisms 33 corresponds one-to-one with the number of walking mechanisms 120. Of course, the number of rotating mechanisms 33 may be less than or more than the number of walking mechanisms 120; this embodiment does not specifically limit this.

[0099] The walking mechanism 120 is provided with a first tooth 1201. The movable baffle 32 is rotatably connected to the towing seat 31. The inner and outer side walls of the movable baffle 32 are respectively provided with second teeth 3201 that mesh with the first tooth 1201. Thus, the cleaning robot 100 rotates the movable baffle 32 relative to the towing seat 31 by rotating the walking mechanism 120, thereby opening or closing the opening 302, so as to enable the cleaning robot 100 to move out of the receiving slot 301 and to confine the cleaning robot 100 within the receiving slot 301 of the towing mechanism 30. The structure is simple and compact.

[0100] Exemplarily, in this embodiment, the walking mechanism 120 includes a plurality of walking wheels (not shown) and a transmission belt 122. Two adjacent walking wheels are connected by the transmission belt 122. The outer ring of the transmission belt 122 facing away from the walking wheel has a first tooth 1201. The walking wheel is configured as a gear, and the transmission belt 122 is configured as a track wheel, with the outer ring of the gear meshing with the inner ring of the track wheel. Of course, in some embodiments, the walking wheel may also be configured as a smooth wheel, and the transmission belt 122 as a belt. In some embodiments, the walking mechanism 120 may include only a plurality of walking wheels, and the walking wheels may be configured as gears. In this case, the outer ring of the walking wheel has a first tooth 1201.

[0101] Cleaning robots, as convenient and efficient automated devices, are widely used in the daily cleaning and maintenance of swimming pools. Currently, they are typically deployed and retrieved automatically using a docking station located on the poolside. However, the cleaning robots themselves and the deployment / retrieval devices are usually quite heavy. During automatic deployment and retrieval, their own gravity places a significant load on the docking station's drive system. Prolonged operation under this high load accelerates wear and significantly shortens the drive system's lifespan, increasing maintenance costs and potentially causing drive system malfunctions that disrupt the robot's deployment and retrieval. Furthermore, the significant gravity also poses a risk of the docking station tipping over into the pool. If it does, it could damage the station and the robot, harm surrounding facilities, and even threaten personnel safety. Moreover, reinstalling and recalibrating a fallen docking station is cumbersome and inconvenient for users.

[0102] This application reduces the load on rotating parts by locating the towing mechanism within the base station body. The towing mechanism remains in contact with the base station body throughout the water removal process, and the entire towing mechanism is continuously close to the base station body. This facilitates the use of the cleaning robot and extends the service life of both the water-removed base station and the cleaning robot.

[0103] Referring to Figures 1 and 10, in one possible implementation, this application provides a water-removing base station 200 for a cleaning robot 100. The water-removing base station 200 includes a base station body 10, a towing mechanism 30, and a first rotating member 52. The base station body 10 has a first end 1001 and a second end 1002 disposed opposite to each other. The base station body 10 can be placed on the ground and fixed relative to the ground. The base station body 10 can provide a charging interface for the cleaning robot 100, serving as a charging station for the cleaning robot 100 to ensure continuous operation. The cleaning device of the base station body 10 can clean the cleaning robot 100 and replenish the cleaning robot 100 with cleaning fluid to ensure that the cleaning robot always maintains good cleaning performance.

[0104] Referring to Figures 1 and 10, in one possible implementation, the towing mechanism 30 includes a cavity for accommodating the cleaning robot 100. The towing mechanism 30 is movably disposed relative to the base station body 10; for example, when the cleaning robot 100 is working, the towing mechanism 30 is moved away from the base station body 10; when the cleaning robot 100 is in standby mode, the towing mechanism 30 is stacked on the base station body 10.

[0105] Referring to Figures 1 and 10, in one possible implementation, one end of the first rotating member 52 is connected to the base station body 10, and the other end is connected to the towing mechanism 30. The first rotating member 52 is used to drive the towing mechanism 30 to move relative to the base station body 10. For example, when the cleaning robot 100 needs to enter the pool to work, the first rotating member 52 drives the towing mechanism 30 away from the base station body 10, with at least a portion of the towing mechanism 30 below the liquid surface. The cleaning robot 100 detaches from the cavity of the towing mechanism 30 and performs cleaning work. At this time, the towing mechanism 30 is in a second state. Schematic, the towing mechanism 30 in the second position can be in contact with the pool wall. When the cleaning robot 100 needs to return to the base station body 10, the cleaning robot 100 enters the cavity of the towing mechanism 30, and the first rotating member 52 drives the towing mechanism 30 closer to the base station body 10 and stacks it on top of the base station body 10. At this time, the towing mechanism 30 is in a first position.

[0106] As shown in Figures 1 and 10, in one possible implementation, the connection point between the first rotating member 52 and the base station body 10 is located between the first end 1001 and the second end 1002. When the towing mechanism 30 moves relative to the base station body 10, the towing mechanism 30 is at least partially supported on the base station body 10, and at least a portion of the base station body 10 is always in contact with the towing mechanism 30.

[0107] Referring to Figures 1 and 10, in one possible implementation, the base station body 10 includes a first end 1001 and a second end 1002 arranged sequentially opposite to each other. The connection point between the first rotating member 52 and the base station body 10 is located between the first end 1001 and the second end 1002. When the towing mechanism 30 moves relative to the base station body 10, the towing mechanism 30 is at least partially supported on the base station body 10, and at least a portion of the base station body 10 is always in contact with the towing mechanism 30. Along the direction of the towing mechanism 30 approaching the base station body 10, when the towing mechanism 30 moves from the first position to the second position, the towing mechanism 30 and at least a portion of the base station body 10 are in contact, and the towing mechanism 30 continues to move relative to the second end 1002 toward the first end 1001. First, with at least a portion of the base station body 10 as the fulcrum, the towing mechanism 30 and the gravity of the cleaning robot 100 generate a torque, and the first rotating member 52 generates a pulling force. This pulling force generates a torque opposite to the gravitational torque, making the movement of the towing mechanism 30 more stable. At least a portion of the base station body 10 provides stable support for the movement of the towing mechanism 30, thereby reducing the pressure of the towing mechanism 30 and the cleaning robot 100 housed within it on the first rotating member 52. Secondly, as the towing mechanism 30 continuously moves relative to the second end 1002 toward the first end 1001, the horizontal distance between the center of gravity of the towing mechanism 30 and the cleaning robot 100 and the first end 1001 gradually decreases during a certain period. That is, the lever arm corresponding to the gravitational torque of the towing mechanism 30 and the cleaning robot 100 gradually decreases, and this lever arm is generally smaller than the lever arm formed when the towing mechanism 30 is not moving relative to the second end 1002 toward the first end 1001. Therefore, the continuous movement of the towing mechanism 30 relative to the second end 1002 toward the first end 1001 can reduce the torque generated by the gravity of the towing mechanism 30 and the cleaning robot 100. Both of the above points can reduce the pressure on the first rotating component 52 and decrease the output load of the first rotating component 52 while ensuring the convenient use of the cleaning robot 100. This reduces wear and tear on the water-removing base station 200 and the cleaning robot 100 during use, which helps extend their service life, reduces maintenance frequency and costs, and improves their long-term ease of use. Furthermore, at least a portion of the base station body 10 helps improve the accuracy of the towing mechanism 30's movement relative to the base station body 10. The range of motion and trajectory of the towing mechanism 30 can be constrained and guided to a certain extent by at least a portion of the base station body 10.

[0108] Referring to Figures 1 and 10, in one possible implementation, the first end 1001 is lower than the second end 1002. When the towing mechanism 30 moves relative to the base station body 10, the towing mechanism 30 is at least partially supported by the first end 1001. Using the first end 1001 as the contact point helps to provide stable support for the movement of the towing mechanism 30, and can reduce the pressure of the towing mechanism 30 and the cleaning robot 100 housed in the towing mechanism 30 on the first rotating member 52.

[0109] As shown in Figures 1 and 10, in one possible implementation, the base station body 10 has an overall shape similar to a right triangle, and the towing mechanism 30 can be stacked on the hypotenuse of the right triangle. This design helps to reduce stress concentration on the towing mechanism 30 and improve the load-bearing capacity of the base station body 10; it can also improve the movement stability of the towing mechanism 30 during the switching process between the first position and the second position.

[0110] Referring to Figures 1 and 10, in one possible implementation, the first rotating member 52 is rotatably connected to the towing mechanism 30. When the towing mechanism 30 moves relative to the base station body 10, it can rotate relative to the first rotating member 52, so that the towing mechanism 30 is supported on the first end 1001. Specifically, the towing mechanism 30 has a connecting end 311 and a free end 312, and the connecting end 311 of the towing mechanism 30 is rotatably connected to the first rotating member 52. The first rotating member 52 drives the connecting end 311 of the towing mechanism 30, thereby driving the entire towing mechanism 30 to move between a first position and a second position with the first end 1001 as the fulcrum. The rotatable connection between the connecting end 311 of the towing mechanism 30 and the first rotating member 52 can effectively transmit the power of the first rotating member 52 to the towing mechanism 30, realizing precise control of the movement of the towing mechanism 30. The towing mechanism 30 and the first rotating member 52 are connected by a rotatable connection, which facilitates a smoother adjustment of the towing mechanism 30 to the required direction and angle when switching between the first and second positions, making the movement of the towing mechanism 30 more stable. The rotatable connection generates less friction during transmission, which can reduce wear between the towing mechanism 30 and the first rotating member 52, improve transmission efficiency, reduce energy loss, and help alleviate the tension on the first rotating member 52, thereby improving the long-term usability of the water station and the cleaning robot.

[0111] Referring to Figures 1 and 10, in one possible embodiment, the towing mechanism 30 has a connecting end 311 and a free end 312. The connecting end 311 of the towing mechanism 30 is rotatably connected to the first rotating member 52. The first rotating member 52 drives the connecting end 311 of the towing mechanism 30, thereby moving the entire towing mechanism 30 between a first position and a second position with the first end 1001 as the fulcrum. The rotatable connection between the connecting end 311 of the towing mechanism 30 and the first rotating member 52 effectively transmits the power of the first rotating member 52 to the towing mechanism 30, achieving precise control of the movement of the towing mechanism 30.

[0112] Referring to Figures 1 and 10, in one possible implementation, the base station body 10 is provided with a rotatable support member 60 located at the first end 1001. When the towing mechanism 30 moves relative to the base station body 10, the towing mechanism 30 at least partially contacts the support member 60. The rotatable support member 60 transforms the sliding friction between the base station body 10 and the towing mechanism 30 into rolling friction. The coefficient of rolling friction is usually much smaller than the coefficient of sliding friction, reducing frictional losses between the base station body 10 and the towing mechanism 30, making the movement of the towing mechanism 30 relative to the base station body 10 smoother, thereby reducing energy loss. Due to the reduction in friction, the required pulling force provided by the first rotating member 52 is also reduced accordingly, reducing the output load of the first rotating member 52, thereby reducing the wear and tear on the water-removing base station 200 and the cleaning robot 100 during use. This helps to extend the service life of the water-removing base station 200 and the cleaning robot 100, reduce the maintenance frequency and cost of the water-removing base station 200 and the cleaning robot 100, and improve the long-term ease of use of the water-removing base station 200 and the cleaning robot 100.

[0113] Figure 14 is a schematic diagram of a driving component 51 provided in an embodiment of this application. As shown in Figures 1, 10 and 14, in one possible implementation, the water-based base station 200 further includes a driving motor 511, a lead screw 512, a second rotating component 53, and a slider 513 movably sleeved on the lead screw 512. The first rotating component 52, the second rotating component 53, the slider 513, the lead screw 512 and the driving motor 511 form a driving assembly. The driving motor 511 is connected to the lead screw 512 in a transmission connection. One end of the second rotating component 53 is connected to the slider 513, and the other end of the second rotating component 53 is connected to the first rotating component 52. Indicatively, the motor shaft of the drive motor 511 is connected to the lead screw 512. The drive motor 511 provides stable power to drive the lead screw 512 to rotate around the shaft, which in turn drives the slider 513 sleeved on the lead screw 512 to move back and forth on the lead screw 512. Subsequently, the second rotating member 53 connected to one end of the slider 513 transmits power to the first rotating member 52, which drives the movement of the towing mechanism 30.

[0114] Referring to Figures 1, 10, and 14, in one possible implementation, one end of the first rotating member 52 is rotatably connected to the towing mechanism 30, and the other end of the first rotating member 52 is rotatably connected to the base station body 10. Specifically, in one embodiment, one end of the first rotating member 52 is provided with a first hole, and the connecting end 311 of the towing mechanism 30 is provided with a connecting hole 221. The first hole and the connecting hole 221 are rotatably connected, so that one end of the first rotating member 52 is rotatably connected to the towing mechanism 30; one end of the first rotating member 52 is provided with a third hole, and the bottom of the base station body 10 is provided with a connecting through hole. The third hole and the connecting through hole are rotatably connected, so that the other end of the first rotating member 52 is rotatably connected to the base station body 10. By controlling the rotation direction and speed, the drive motor 511 can realize the automatic reciprocating motion or precise position control of the slider 513 on the lead screw 512, thereby improving the accuracy of the movement of the towing mechanism 30.

[0115] Referring to Figures 1, 10, and 14, in one possible implementation, a fourth hole is provided at one end of the second rotating member 53, and a second hole is provided between the two ends of the first rotating member 52. A hinge structure is formed between the fourth hole and the second hole, creating a linkage force-increasing structure. This saves power and increases the lifting torque. Under the same power source, the towing mechanism 30 can obtain greater driving force, improving operating efficiency. The first rotating member 52 and the second rotating member 53 form an adjustable scissor-shaped linkage structure, which can change the size of the space occupied by rotation. When the towing mechanism 30 is in the first position, the scissor-shaped linkage can be tightly folded, occupying minimal space. Furthermore, the scissor-shaped linkage mechanism has sufficient stability and strength when unfolded, enabling the towing mechanism 30 to withstand a large load and ensuring the stable placement of the cleaning robot 100.

[0116] Referring to Figures 1, 10, and 14, in one possible implementation, a drive motor 511 generates power and transmits it to a second rotating member 53. The second rotating member 53 drives a first rotating member 52 rotatably connected to it. The first rotating member 52 rotates around the end connected to the base station body 10, thereby causing the other end of the first rotating member 52 to switch the towing mechanism 30 between a first position and a second position. The combination of the second rotating member 53 and the first rotating member 52 provides effective support for the towing mechanism 30, making it more stable during movement and reducing swaying and deviation. The drive motor 511 transmits power to the first rotating component 52 through the second rotating component 53, thereby driving the towing mechanism 30 to move. This design makes the power transmission smoother, reduces energy loss, and ensures the stability of the water-off base station 200. While enabling the convenient use of the cleaning robot 100, it also helps to extend the service life of the water-off base station 200 and the cleaning robot 100, reduces the maintenance frequency and cost of the water-off base station 200 and the cleaning robot 100, and improves the long-term ease of use of the water-off base station 200 and the cleaning robot 100.

[0117] Referring to Figures 1, 10, and 14, in one possible embodiment, the slider 513 has a mounting hole 331, the lead screw 512 has an external thread 341, and the mounting hole 331 has an internal thread 3311. The lead screw 512 passes through the mounting hole 331. The drive motor 511 is used to displace the slider 513 relative to the lead screw 512. The outer diameter of the lead screw 512 is less than or equal to the inner diameter of the mounting hole 331. The slider 513 is sleeved on the lead screw 512 through the mounting through hole and is rotatably connected to the lead screw 512. The slider 513 forms a threaded transmission connection with the external thread 341 of the lead screw 512 through the internal thread 3311 of the mounting through hole. The threaded transmission has high precision. The meshing of the external thread 341 and the internal thread 3311 accurately converts the rotational motion into linear motion. Furthermore, different transmission ratios and displacement speeds can be achieved by adjusting parameters such as the thread pitch, thus enabling precise displacement of the slider 513 on the lead screw 512. Secondly, when the slider 513 is stationary on the lead screw 512, the friction and helix angle between the external thread 341 and the internal thread 3311 will produce a self-locking phenomenon, which allows the slider 513 to maintain a fixed position to a certain extent and not slide arbitrarily due to external forces. Furthermore, the threaded connection transmits force through the meshing between the external thread 341 and the internal thread 3311, which can withstand greater axial and radial forces, thus improving the stability of the drive component and ensuring the working stability of the water-removing base station 200. While realizing the convenient use of the cleaning robot 100, it also helps to extend the service life of the water-removing base station 200 and the cleaning robot 100, reduce the maintenance frequency and cost of the water-removing base station 200 and the cleaning robot 100, and improve the long-term ease of use of the water-removing base station 200 and the cleaning robot 100.

[0118] As shown in Figures 1, 10 and 14, in one possible implementation, the water-based base station 200 further includes a fixing member 360 and at least two guide rods 370 symmetrically arranged about the lead screw 512, and the number of mounting holes 331 is at least three. The guide rods 370 pass through the mounting holes 331 and are connected to the fixing member 360.

[0119] Referring to Figures 1, 10, and 14, in one possible implementation, the guide rod 370 is parallel to the lead screw 512, passes through the mounting hole 3312, and is connected to the fixing member 360. The slider 513 includes a mounting hole 331, the inner diameter of which is greater than or equal to the outer diameter of the guide rod 370. The guide rod 370 passes through the mounting hole 331 and is connected to the fixing member 360. In another possible implementation, the fixing member includes a connecting hole 361, the inner diameter of which is greater than or equal to the outer diameter of the guide rod 370. The guide rod 370 passes through the mounting hole 331 of the slider 513, and at least one end of the guide rod 370 is fixed by the connecting hole 361 of the fixing member 360. In yet another possible implementation, there are two fixing members 360, and both ends of the guide rod 370 are respectively fixed by the connecting holes 361 of the two fixing members 360. The two fixing members 360 help to improve the stability of the guide rod 370.

[0120] Referring to Figures 1, 10, and 14, in one possible implementation, there are two guide rods 370, symmetrically arranged about the lead screw 512, and both guide rods 370 are parallel to the lead screw 512. The guide rods 370 have a guiding function, providing precise guidance for the movement of the slider 513, allowing it to move along a specific path. Secondly, the guide rods 370 can balance and support the slider 513, distributing some of the external forces on it, enabling it to maintain balance during its movement along the lead screw 512. Furthermore, the guide rods 370 can reduce the swaying and wobbling of the slider 513 during its movement, preventing collisions or excessive friction between the slider 513 and other surrounding components. By improving the accuracy and smoothness of the slider 513's movement, the guide rods 370 improve the accuracy and smoothness of the towing mechanism 30's movement. Furthermore, when the slider 513 moves on the lead screw 512, the two parallel guide rods 370 can better determine the motion plane of the slider 513, making its motion direction more precise. The two guide rods 370 can provide better balancing effect. When the slider 513 is subjected to large external forces or uneven loads, the two guide rods 370 can distribute these forces from different positions, keeping the slider 513 balanced. During the operation of the drive assembly, even if one guide rod 370 fails, such as due to excessive wear or deformation caused by accidental impact, the other guide rod 370 can still play a certain guiding and supporting role, preventing the slider 513 from immediately losing control and ensuring the working stability of the water-removing base station 200. While realizing the convenient use of the cleaning robot 100, it is beneficial to extend the service life of the water-removing base station 200 and the cleaning robot 100, reduce the maintenance frequency and cost of the water-removing base station 200 and the cleaning robot 100, and improve the long-term ease of use of the water-removing base station 200 and the cleaning robot 100.

[0121] Referring to Figures 1, 10, and 14, in one possible implementation, the slider 513 has a hinge hole 332, and the second rotating member 53 is rotatably connected to the slider 513 through the hinge hole 332. The other end of the second rotating member 53 has a fifth hole, and the hinge hole 332 and the fifth hole are connected by a fitting. Connecting the hinge hole 332 and the fifth hole by a fitting improves the stability between the slider 513 and the second rotating member 53. In one embodiment, the hinge hole 332 and the fifth hole are connected by a screw or a pin. The screw connection facilitates later maintenance and replacement, and ensures the stability and accuracy of the second rotating part 53 during installation; the pin connection enables the second rotating part 53 to withstand greater shear and compressive forces, ensuring the working stability of the water-removing base station 200. While ensuring the ease of use of the cleaning robot 100, it also helps to extend the service life of the water-removing base station 200 and the cleaning robot 100, reduce the maintenance frequency and cost of the water-removing base station 200 and the cleaning robot 100, and improve the long-term ease of use of the water-removing base station 200 and the cleaning robot 100.

[0122] Referring to Figures 1, 10, and 14, in one possible implementation, the number of hinge holes 332 is at least two, the number of second rotating members 53 is at least two, and the at least two hinge holes 332 are symmetrically arranged about the lead screw 512. The slider 513 is a centrally symmetrical block, and each end of the slider 513 is provided with two hinge holes 332. Each hinge hole 332 is connected to a second rotating member 53, and each second rotating member 53 can be connected to the towing mechanism 30 through a corresponding first rotating member 52. The drive motor 511 drives the slider 513 to reciprocate relative to the lead screw 512. The two second rotating parts 53 connected to the hinge holes 332 at both ends of the lead screw 512 indirectly drive the towing mechanism 30 to move. The two second rotating parts 53 help improve the smoothness of the towing mechanism 30's movement and switching between the first position and the second position, ensuring the working stability of the water-removing base station 200. While realizing the convenient use of the cleaning robot 100, it also helps to extend the service life of the water-removing base station 200 and the cleaning robot 100, reduce the maintenance frequency and cost of the water-removing base station 200 and the cleaning robot 100, and improve the long-term convenience of use of the water-removing base station 200 and the cleaning robot 100.

[0123] Figure 15 is a cross-sectional schematic diagram of a water-removing base station 200 provided in another embodiment of this application. Referring to Figures 1, 10, and 15, in one possible implementation, the water-removing base station 200 further includes a drive motor 511 and a worm gear 380. The first rotating member 52, the drive motor 511, and the worm gear 380 constitute a drive assembly. The input end of the worm gear 380 is connected to the drive motor 511, and the output end of the worm gear 380 is connected to the first rotating member 52 to drive the first rotating member 52 to rotate. By setting a drive motor 511 and a worm gear 380 in the water-removing base station 200, the drive motor 511 drives the worm gear 381 to rotate, which in turn drives the worm gear 382 meshing with it to rotate, and finally drives the first rotating component 52 connected to the worm gear 382 to rotate. While providing stable support for the movement of the towing mechanism 30 by the base station body 10, it can also achieve a large reduction ratio with a small footprint, so as to avoid the stalling caused by the inertia of the towing mechanism 30 and the cleaning robot 100. At the same time, it can also realize the self-locking function, ensuring the safety of the water-removing base station 200. While ensuring the ease of use of the cleaning robot 100, it is beneficial to extend the service life of the water-removing base station 200 and the cleaning robot 100.

[0124] When a cleaning robot enters the receiving tank of a water-off-water base station from a water pool, it is prone to tipping backward, posing a risk of falling back into the water pool. This application provides a water-off-water base station and a cleaning system to solve the problem of cleaning robots tipping backward.

[0125] Referring to Figures 1, 2, and 13, the cleaning system 1000 includes a cleaning robot 100 and a water-removal base station 200. The water-removal base station 200 is provided with a receiving slot 301. The receiving slot 301 is used to receive the cleaning robot 100. The water-removal base station 200 is installed on the bank 11a. The water-removal base station 200 is used to drive the cleaning robot 100 into or out of the pool 1a. The pool 1a can be a swimming pool, a reservoir, etc. The cleaning robot 100 is used to perform cleaning operations on the pool 1a. The cleaning robot 100 includes a body 110 and a walking mechanism 120 mounted on the body 110. The body 110 is used to drive the walking mechanism 120 to rotate, causing the walking mechanism 120 to move the body 110, and for cleaning the pool 1a. The walking mechanism 120 can be configured with tracked wheels to increase the friction between the walking mechanism 120 and the pool wall of the pool 1a. In some embodiments, the walking mechanism 120 may also be configured as other wheel structures, which are not specifically limited in this application, such as being configured as round rubber wheels, etc.

[0126] The water-based base station 200 includes a base station body 10, a towing mechanism 30, and a drive structure 50. The base station body 10 is installed on the bank 11a. The towing mechanism 30 is movably disposed relative to the base station body 10. The drive structure 50 is installed in the base station body 10 and connected to the towing mechanism 30, and the drive structure 50 is used to drive the towing mechanism 30 to move relative to the base station body 10. The cleaning system 1000 has a first operating state and a second operating state. When the cleaning system 1000 is in the first operating state, the drive structure 50 drives the towing mechanism 30 to move from the water tank 1a to the base station body 10. The cleaning system 1000 can enter the first operating state after the cleaning machine 600 enters the receiving tank 301 from the water tank 1a. When the cleaning system 1000 is in the second operating state, the drive structure 50 drives the towing mechanism 30 to move, so that the towing mechanism 30 enters the water tank 1a and is at least partially below the water surface of the water tank 1a. At this time, the cleaning robot 100 drives out of the receiving tank 301 and enters the water pool 1a. Thus, in this embodiment of the application, the cleaning robot 100 is automatically retrieved and placed by the water-removing base station 200, avoiding manual handling of the cleaning robot 100, improving the automation level of the cleaning system 1000, and making the use of the cleaning robot 100 more convenient.

[0127] The towing mechanism 30 includes a towing seat 31 and a rotating mechanism 33. The towing seat 31 is configured with a receiving groove 301 for accommodating the cleaning robot 100 and an opening 302 communicating with the receiving groove 301. The opening 302 allows the cleaning robot 100 to pass through, so that the cleaning robot 100 can enter into or exit from the receiving groove 301. The rotating mechanism 33 is rotatably disposed at one end of the towing seat 31 and is at least partially located within the receiving groove 301. The rotating mechanism 33 is used to contact the walking mechanism 120 of the cleaning robot 100 that enters the receiving groove 301.

[0128] In related technologies, after the walking mechanism of the cleaning robot comes into contact with the wall of the receiving tank, as the walking mechanism continues to rotate, sliding friction occurs between the walking mechanism and the tank wall. The tank wall will generate a reaction force on the cleaning robot in the direction away from the bottom wall of the receiving tank. On the one hand, this reaction force and the center of gravity of the cleaning robot form a flipping torque. Under the action of the flipping torque, the cleaning robot is prone to tipping backward, causing the cleaning robot to fall back into the pool. On the other hand, when the cleaning robot enters the receiving tank, the cleaning robot is in a vertical state. The gravity acting on the center of gravity of the cleaning robot is parallel to the bottom wall of the receiving tank. Under the action of gravity, the cleaning robot will have a flipping torque of tipping backward. If the tank wall applies a reaction force to the cleaning robot, it will aggravate the flipping torque of the cleaning robot, making the cleaning robot more likely to tip backward, causing the cleaning robot to tip over out of the receiving tank.

[0129] In this embodiment, the rotating mechanism 33 is rotatably disposed at one end of the carrier seat 31 and at least partially located within the receiving groove 301. The rotating mechanism 33 is used to contact the walking mechanism 120 of the cleaning robot 100 that enters the receiving groove 301. After the walking mechanism 120 of the cleaning robot 100 moves to contact the rotating mechanism 33, as the walking mechanism 120 continues to rotate, the direction of the frictional force exerted by the walking mechanism 120 on the rotating mechanism 33 through friction is along the tangential direction of the contact point between the rotating mechanism 33 and the walking mechanism 120, and the frictional force is perpendicular to the rotation. The line connecting the rotation axis 3010 of mechanism 33 and the rotation axis 621 of walking mechanism 120 points towards the side closer to the bottom wall 2012 of the tank. On the one hand, this friction is used to drive the rotation of the rotation mechanism 33, thereby eliminating the friction force exerted by the walking mechanism 120 on the rotation mechanism 33. This greatly reduces the reaction force exerted by the rotation mechanism 33 on the walking mechanism 120 in the direction away from the bottom wall 2012 of the tank, preventing the reaction force from forming a flipping torque on the cleaning robot 100, and thus preventing the cleaning robot 100 from overturning. The robot flips backward under the action of the reaction force, preventing the cleaning robot 100 from falling back into the pool and keeping it within the receiving trough 301. This improves the retrieval capability of the water-removing base station 200. Furthermore, compared to related technologies where the walking mechanism directly contacts the trough wall, resulting in sliding friction, this embodiment avoids direct contact between the walking mechanism 120 and the trough wall by having the rotating mechanism 33 contact the walking mechanism 120. This prevents the walking mechanism 120 from sliding along the trough wall. The wall-climbing mechanism effectively prevents the cleaning robot 100 from climbing out of the receiving groove 301 along the groove wall. On the other hand, it can prevent the groove wall of the receiving groove from being worn by the walking mechanism 120, thereby increasing the service life of the towing mechanism 30. Furthermore, by rotating the rotating mechanism 33 relative to the towing mechanism 30, the sliding friction between the walking mechanism 120 and the groove wall of the receiving groove is converted into rolling friction between the walking mechanism 120 and the rotating mechanism 33. This can greatly reduce the wear of the walking mechanism 120 on the rotating mechanism 33 and greatly increase the service life of the towing mechanism 30.

[0130] The receiving groove 301 includes a limiting wall 2011 opposite to the opening 302. The receiving groove 301 also includes a bottom wall 2012 located between the opening 302 and the limiting wall 2011, which supports the cleaning robot 100. The limiting wall 2011 faces the opening 302. A rotating mechanism 33 is mounted on the limiting wall 2011 and is rotatably configured relative to the towing mechanism 30. The rotating mechanism 33 is aligned with the walking mechanism 120 of the cleaning robot 100. This prevents the cleaning robot 100 from climbing out of the receiving groove 301 along the limiting wall 2011 and avoids wear on the limiting wall 2011 from the walking mechanism 120.

[0131] The limiting wall 2011 is provided with a mounting groove 203. The mounting groove 203 opens from the limiting wall 2011 in a direction away from the opening 302. The rotating mechanism 33 is housed in the mounting groove 203 and protrudes relative to the limiting wall 2011, such that the rotating mechanism 33 protrudes out of the mounting groove 203 in a direction closer to the opening 302. This ensures that when the traveling mechanism 120 moves towards the limiting wall 2011, it contacts the rotating mechanism 33 first, creating a gap between the traveling mechanism 120 and the limiting wall 2011. This prevents the limiting wall 2011 from being worn by the traveling mechanism 120 and improves the service life of the towing mechanism 30. In some embodiments, the rotating mechanism 33 and the towing mechanism 30 can be configured to be detachably connected, which facilitates the maintenance or replacement of the rotating mechanism 33 and reduces maintenance difficulty and cost.

[0132] In this design, the side of the mounting groove 203 away from the bottom wall 2012 can be an open structure. The mounting groove 203 has an opening facing towards the opening 302 and an opening facing away from the bottom wall 2012. This facilitates the assembly and disassembly of the rotating mechanism 33 and reduces assembly difficulty. In some embodiments, the side of the mounting groove 203 away from the bottom wall 2012 can also be a closed structure, with the opening of the mounting groove 203 facing towards the opening 302.

[0133] The receiving groove 301 also includes two groove sidewalls 2013 located between the opening 302 and the limiting wall 2011, with the two groove sidewalls 2013 arranged opposite to each other. The groove sidewalls 2013 are respectively connected to the limiting wall 2011 and the bottom wall 2012. The limiting wall 2011, the bottom wall 2012, and the groove sidewalls 2013 together enclose the receiving groove 301. The mounting groove 203 extends to the groove sidewalls 2013. The end of the rotating mechanism 33 is located close to the groove sidewalls 2013 to ensure that the traveling mechanism 120 can contact the rotating mechanism 33 while reducing the gap between the traveling mechanism 120 and the groove sidewalls 2013, thereby improving the space utilization of the receiving groove 301 and making the structure of the towing mechanism 30 more compact.

[0134] In some embodiments, the mounting groove 203 may be spaced apart from the groove sidewall 2013. Along the rotation axis 3010 of the rotating mechanism 33, the distance between the groove wall of the mounting groove 203 near the groove sidewall 2013 and the groove sidewall 2013 is less than the width of the traveling mechanism 120, and the distance between the end of the rotating mechanism 33 near the groove sidewall 2013 and the groove sidewall 2013 is less than the width of the traveling mechanism 120, so as to prevent the traveling mechanism 120 from entering the gap between the rotating mechanism 33 and the groove sidewall 2013, and to ensure that the traveling mechanism 120 can contact the rotating mechanism 33.

[0135] The number of rotating mechanisms 33 corresponds to the number of walking mechanisms 120 on the end of the cleaning robot 100 near the rotating mechanism 33. For example, in this embodiment, the cleaning robot 100 has two walking mechanisms 120, which are located on both sides of the body 110 in the width direction. The number of rotating mechanisms 33 is correspondingly set to two. Each rotating mechanism 33 corresponds to one walking mechanism 120. In some embodiments, the number of walking mechanisms 120 on the end of the cleaning robot 100 near the limiting wall 2011 can also be set to other numbers, such as three, four, etc.

[0136] In some embodiments, when the number of walking mechanisms 120 near one end of the cleaning robot 100 close to the rotating mechanism 33 is greater than two, the number of rotating mechanisms 33 can be set to two, or more than two. Each rotating mechanism 33 is aligned with at least one walking mechanism 120, and the rotating mechanism 33 can simultaneously contact at least one walking mechanism 120. In some embodiments, the width of the rotating mechanism 33 along the rotation axis 3010 can be greater than the width of the walking mechanism 120 along the rotation axis 621, and the rotating mechanism 33 can be aligned with two or more walking mechanisms 120.

[0137] Figure 16 is a cross-sectional view of the cleaning system provided in this embodiment after partial structure removal. Referring to Figures 1 and 16, the vertical distance between the rotation axis 3010 of the rotating mechanism 33 and the bottom wall 2012 of the tank is a first distance D1, and the vertical distance between the rotation axis 621 of the traveling mechanism 120 and the bottom wall 2012 of the tank is a second distance D2. The first distance D1 is greater than or equal to the second distance D2. Exemplarily, in this embodiment, the first distance D1 is greater than the second distance D2. After the cleaning robot 100 comes into contact with the rotating mechanism 33, as the walking mechanism 120 continues to rotate, the cleaning robot 100 exerts pressure on the rotating mechanism 33 along the line connecting the rotation axis 621 of the walking mechanism 120 and the rotation axis 3010 of the rotating mechanism 33. This pressure points towards the rotating mechanism 33. The reaction force F1 generated by the rotating mechanism 33 on the walking mechanism 120 is along the line connecting the rotation axis 3010 of the rotating mechanism 33 and the rotation axis 621 of the walking mechanism 120. This reaction force F1 points towards the walking mechanism 120. The reaction force F1 can be decomposed into a first component force F11 and a second component force F12 perpendicular to the first component force F11. The first component force F11 is directed towards the opening 302. The direction of the first component force F11 is opposite to the direction of movement of the cleaning robot 100, and the first component force F11 is used to prevent the cleaning robot 100 from continuing to move towards the limiting wall 2011. The second component force F12 is perpendicular to the bottom wall 2012 of the receiving groove 301 and is directed towards the bottom wall 2012. Thus, under the action of the second component force F12, the rotating mechanism 33 compresses the walking mechanism 120 towards the bottom wall 2012, effectively preventing the cleaning robot 100 from tipping over and from climbing out of the receiving groove 301. In some embodiments, the first distance D1 can be equal to the second distance D2. The rotation of the rotating mechanism 33 prevents it from exerting a reaction force on the walking mechanism 120 in a direction away from the bottom wall 2012, thus preventing the cleaning robot 100 from tipping over and from climbing out of the receiving groove 301.

[0138] In some embodiments, the cleaning robot 100 is provided with a water outlet on the side facing away from the bottom wall 2012 of the tank. When the cleaning robot 100 sprays water through the water outlet, the reaction force of the water in the pool 1a on the cleaning robot 100 will squeeze the cleaning robot 100 toward the bottom wall 2012 of the tank, which helps to keep the cleaning robot 100 in the receiving tank 301 and prevent the cleaning robot 100 from tipping over.

[0139] Figure 17 is a structural schematic diagram of the rotating mechanism provided in an embodiment of this application, Figure 18 is a top view of the cleaning system provided in an embodiment of this application, and Figure 19 is an enlarged view of point I in Figure 18. Referring also to Figures 16, 17, 18, and 19, in some embodiments, along the rotation axis 3010 of the rotating mechanism 33, the width of the rotating mechanism 33 is greater than or equal to the width of the traveling mechanism 120. Thus, when the traveling mechanism 120 contacts the rotating mechanism 33, it is advantageous to position the traveling mechanism 120 between the two opposite ends of the rotating mechanism 33 along the rotation axis 3010, increasing the contact width between the traveling mechanism 120 and the rotating mechanism 33, making the rotating mechanism 33 bear force evenly, reducing wear on the rotating mechanism 33, and increasing the service life of the rotating mechanism 33.

[0140] The rotating mechanism 33 can be constructed as a hollow structure to reduce the weight of the rotating mechanism 33, reduce the rotational resistance of the rotating mechanism 33, and make the water-based base station 200 lighter. In some embodiments, the rotating mechanism 33 can also be configured as a solid structure.

[0141] The rotating mechanism 33 includes a body portion 3100 and a protrusion 320. The body portion 3100 extends along the rotation axis 3010 of the rotating mechanism 33. The body portion 3100 is generally cylindrical. The protrusion 320 is located at the axial end of the body portion 3100. The protrusion 320 is arranged in an annular shape around the rotation axis 3010. The radial dimension of the protrusion 320 is larger than the radial dimension of the body portion 3100. The protrusion 320 and the body portion 3100 can be integrally formed, or the protrusion 320 and the body portion 3100 can be independently arranged and fixedly connected together by means of bonding, snap-fitting, fusion welding, welding, screwing, etc. Two protrusions 320 can be provided, with each protrusion 320 corresponding to one of the two axial ends of the body portion 3100. In some embodiments, one protrusion 320 can be provided, located at one of the axial ends of the body portion 3100.

[0142] The rotating mechanism 33 also includes a rotating shaft 330. In this embodiment, the rotating shaft 330 is independently arranged relative to the main body 3100, and the main body 3100 is sleeved on the rotating shaft 330 and rotatably arranged relative to the rotating shaft 330. The rotating shaft 330 and the towing mechanism 30 can be fixedly connected or rotatably connected. In some embodiments, the rotating shaft 330 and the main body 3100 can be fixedly connected, and the rotating shaft 330 and the towing mechanism 30 can be rotatably connected. The rotating shaft 330 and the main body 3100 can be integrally formed, or they can be independently arranged and fixedly connected together by means of bonding, snap-fitting, fusion welding, welding, screwing, etc.

[0143] A guide groove 310 is formed between the protrusion 320 and the main body 3100. The guide groove 310 is used to accommodate the walking mechanism 120. The walking mechanism 120 is used to contact the main body 3100. Along the rotation axis 3010 of the rotating mechanism 33, the width of the guide groove 310 is greater than or equal to the width of the walking mechanism 120, so that the walking mechanism 120 can enter the guide groove 310. The width of the guide groove 310 can be the distance along the rotation axis 3010 between the connection points of the two protrusions 320 of the rotating mechanism 33 and the main body 3100. The guide groove 310 can limit the position of the walking mechanism 120, thereby limiting the position of the cleaning robot 100 in the receiving groove 301, reducing or avoiding collisions between the cleaning robot 100 and the groove sidewall 2013, so as to reduce or avoid wear of the groove sidewall 2013 by the walking mechanism 120. The main body 3100 has a protrusion 320 at one end near the side wall 2013 of the groove. The protrusion 320 guides and limits the movement of the walking mechanism 120, thereby preventing the walking mechanism 120 from wearing down the side wall 2013 of the groove.

[0144] In this embodiment, a guide wall 321 is provided on the side of the protrusion 320 near the center of the main body 3100 along the rotation axis 3010 of the rotating mechanism 33. The center of the main body 3100 is located at the midpoint of the line connecting the two opposite ends of the main body 3100 along the rotation axis 3010. The guide wall 321 connects the outer peripheral surface of the protrusion 320 and the outer peripheral surface of the main body 3100. The end of the guide wall 321 connected to the outer peripheral surface of the protrusion 320 is inclined away from the center of the main body 3100 relative to the end of the guide wall 321 connected to the outer peripheral surface of the main body 3100. The guide groove 310 extends along the axial direction of the rotating mechanism 33, and its cross-section is approximately trapezoidal on the cross-sectional plane passing through the rotation axis 3010. Along the rotation axis 3010, the width of the portion of the guide groove 310 near the main body 3100 is smaller than the width of the portion of the guide groove 310 away from the main body 3100. Thus, during the process of the walking mechanism 120 entering the guide groove 310, when the position of the walking mechanism 120 is not directly aligned with the main body 3100, the guiding effect of the guide wall 321 allows the cleaning robot 100 to move laterally along the direction of the rotation axis 3010, thereby aligning the walking mechanism 120 with the main body 3100 and allowing the walking mechanism 120 to smoothly enter the guide groove 310, thus avoiding contact between the walking mechanism 120 and the groove side wall 2013. The connection points between the guide wall 321 and the outer peripheral surface of the protrusion 320, and between the guide wall 321 and the outer peripheral surface of the main body 3100, can be respectively provided with arc transitions to improve the guiding effect of the protrusion 320 and the guide wall 321 on the walking mechanism 120, and reduce the wear of the rotating mechanism 33. In some embodiments, the guide wall 321 can also be arranged perpendicular to the rotation axis 3010.

[0145] In some embodiments, the rotating mechanism 33 may be configured as an elastic structure, or an elastic structure may be provided on the outer peripheral wall of the rotating mechanism 33. Thus, when the traveling mechanism 120 comes into contact with the rotating mechanism 33, the rotating mechanism 33 can absorb the impact force from the traveling mechanism 120 through elastic deformation, thereby reducing impact wear on the rotating mechanism 33 and improving its service life. Exemplarily, the rotating mechanism 33 may be configured as a rotating mechanism made of elastic rubber, or a rubber sleeve may be provided around the outer periphery of the rotating mechanism 33.

[0146] Figure 20 is a schematic diagram of the rotating mechanism in some embodiments of this application when it is in the third position. Referring to Figure 20, in some embodiments, the water-removing base station 200 further includes a sliding element 410 and an elastic element 420. The rotating mechanism 33 is rotatably connected to the sliding element 410. The sliding element 410 may be provided with a pivot hole, and the pivot 330 passes through the pivot hole. A sliding groove 204 is provided on the side wall of the mounting groove 203. The sliding groove 204 extends along the opening 302 toward the limiting wall 2011. The sliding element 410 is slidably disposed in the sliding groove 204 and can slide along the sliding groove 204 toward the direction close to the opening 302 or toward the direction away from the opening 302. The elastic element 420 is connected to the sliding element 410 and the towing mechanism 30 and is used to provide an elastic force to the sliding element 410 toward the direction close to the opening 302. Thus, when the traveling mechanism 120 compresses the rotating mechanism 33, the elastic force provided by the elastic element 420 can offset the impact force of the traveling mechanism 120 on the rotating mechanism 33, providing a buffer for the rotating mechanism 33 to avoid damage and improve its service life. When the traveling mechanism 120 separates from the rotating mechanism 33, the elastic element 420 resets the rotating mechanism 33. Specifically, when the sliding element 410 slides to its limit position away from the opening 302, that is, when the elastic element 420 is in its maximum tension or compression state, the rotating mechanism 33 is in a state of protrusion relative to the limiting wall 2011, so that the rotating mechanism 33 remains in contact with the traveling mechanism 120 and avoids the traveling mechanism 120 from contacting the limiting wall 2011.

[0147] For example, the elastic element 420 can be disposed between the sliding element 410 and the groove wall in the slide 204 opposite to the opening 302, so as to reduce the installation difficulty of the elastic element 420 and facilitate assembly. In some embodiments, the elastic element 420 can also be disposed at other positions of the towing mechanism 30. The elastic element 420 can be configured as a spring, torsion spring, rubber band, elastomer, etc.

[0148] Figure 21 is a schematic diagram of the rotating mechanism in the fourth position according to some embodiments of this application. Referring to Figures 20 and 21, in some embodiments, the water-removing base station 200 further includes a detection element 430. The detection element 430 is mounted on the towing mechanism 30. The rotating mechanism 33 is movably disposed relative to the towing mechanism 30. The rotating mechanism 33 can reciprocate relative to the towing mechanism 30 along the opening 302 toward the limiting wall 2011. The rotating mechanism 33 has a third position and a fourth position relative to the towing mechanism 30. The third position is located on the side of the fourth position closer to the opening 302. The detection element 430 is used to trigger when the rotating mechanism 33 is in the fourth position. Thus, the detection element 430 can detect the position of the rotating mechanism 33, thereby detecting the position of the cleaning robot 100 in the receiving slot 301. When the detection element 430 is triggered, the cleaning robot 100 has fully entered the receiving slot 301 and is located in the predetermined position within the receiving slot 301.

[0149] For example, the detection element 430 can be disposed on the groove wall of the slide groove 204 opposite to the opening 302. When the sliding element 410 slides along the slide groove 204 in a direction away from the opening 302 to the fourth position, the sliding element 410 triggers the detection element 430. The detection element 430 can be configured as a contact sensor, and the sliding element 410 triggers the detection element 430 by abutting against it. Alternatively, the detection element 430 can also be configured as, but is not limited to, a Hall sensor, a photoelectric sensor, etc.

[0150] In some embodiments, the detection element 430 may also be disposed at other positions of the towing mechanism 30, as long as the detection element 430 can detect the movement of the rotating mechanism 33. For example, the detection element 430 may also be disposed on the groove wall of the mounting groove 203 opposite to the opening, and the detection element 430 is triggered when the rotating mechanism 33 moves to a fourth position in a direction away from the opening 302.

[0151] In some embodiments, the sidewall 2013 of the trough and the bottom wall 2012 of the trough can be set at an obtuse angle to reduce or avoid contact between the walking mechanism 120 and the sidewall 2013 of the trough, thereby preventing the walking mechanism 120 from causing wear on the sidewall 2013 of the trough and improving the service life of the water-free base station 200.

[0152] In some embodiments, the end of the limiting wall 2011 away from the bottom wall 2012 can be inclined toward the opening 302 relative to the end of the limiting wall 2011 near the bottom wall 2012, and the rotating mechanism 33 is positioned near the end of the limiting wall 2011 away from the bottom wall 2012. The limiting wall 2011 and the bottom wall 2012 can be set at an acute angle. In this way, contact between the traveling mechanism 120 and the limiting wall 2011 can be effectively avoided.

[0153] Figure 22 is a partial structural schematic diagram of the towing mechanism provided in some embodiments of this application. Referring to Figure 22, in some embodiments, the water-removing base station 200 may not include the rotating mechanism 33. A limiting wall 2011 is provided with a limiting groove 205. The limiting groove 205 communicates with the receiving groove 301. The limiting groove 205 is used to receive the walking mechanism 120, and the end of the walking mechanism 120 near the limiting wall 2011 can extend into the limiting groove 205. When the walking mechanism 120 enters the limiting groove 205, the end of the limiting wall 2011 away from the bottom wall 2012 of the groove is located on the side of the walking mechanism 120 away from the bottom wall 2012, that is, its orthogonal projection on the bottom wall 2012, and the limiting wall 2011 overlaps with the walking mechanism 120. Thus, the walking mechanism 120 is limited by the limiting groove 205, and the walking mechanism 120 cannot flip out of the limiting groove 205, thereby preventing the cleaning robot 100 from flipping backward and preventing the cleaning robot 100 from flipping out of the receiving groove 301.

[0154] The end of the limiting wall 2011 away from the bottom wall 2012 can be inclined toward the opening 302 relative to the end of the limiting wall 2011 near the bottom wall 2012. The limiting wall 2011 and the bottom wall 2012 can be set at an acute angle, and a limiting groove 205 is formed between the limiting wall 2011 and the bottom wall 2012. When sliding friction occurs between the walking mechanism 120 and the limiting wall 2011, since the limiting wall 2011 is inclined, the direction of the reaction force of the limiting wall 2011 on the walking mechanism 120 is set at an acute angle with the bottom wall 2012 of the tank. This reaction force can press the cleaning robot 100 onto the bottom wall 2012 of the tank, thereby preventing the cleaning robot 100 from tipping over. It can also reduce the component force of the limiting wall 2011 on the walking mechanism 120 in the direction perpendicular to the bottom wall 2012 of the tank, thereby increasing the difficulty for the walking mechanism 120 to climb up the limiting wall 2011. In addition, in conjunction with the reaction force of the water on the cleaning robot 100 when the cleaning robot 100 sprays water, it can effectively prevent the cleaning robot 100 from tipping over out of the receiving tank 301. In some embodiments, the limiting wall 2011 is smoothly arranged to reduce the frictional force when the walking mechanism 120 rubs against the limiting wall 2011.

[0155] In some embodiments, the end of the limiting wall 2011 away from the bottom wall 2012 of the groove may be bent toward the opening 302 relative to the end of the limiting wall 2011 near the bottom wall 2012 of the groove, and the limiting wall 2011 may be constructed as an arc surface.

[0156] In some embodiments, the limiting wall 2011 may have a first wall surface and a second wall surface. The first wall surface is connected to the bottom wall 2012 of the groove. The second wall surface is connected to the end of the first wall surface away from the bottom wall 2012. The first wall surface may be perpendicular to the bottom wall 2012, or it may be inclined or bent relative to the bottom wall 2012 in a direction away from the opening 302. The second wall surface is inclined or bent relative to the first wall surface in a direction closer to the opening 302. The first wall surface and the second wall surface enclose a limiting groove 205.

[0157] The shape of the limiting groove 205 can be specifically set according to actual needs, and this application does not make specific limitations. For example, the shape of the limiting groove 205 can be an arc groove, a square groove, etc.

[0158] Figure 23 is a partial structural schematic diagram of the towing mechanism provided in some embodiments of this application. Referring to Figure 23, in some embodiments, an extension end 2051 protrudes from the limiting wall 2011 toward the opening 302. The extension end 2051 is located at the end of the limiting wall 2011 away from the bottom wall 2012. The extension end 2051, the limiting wall 2011, and the bottom wall 2012 together form a limiting groove 205. When the traveling mechanism 120 enters the limiting groove 205, the extension end 2051 is located on the side of the traveling mechanism 120 away from the bottom wall 2012. When the walking mechanism 120 climbs along the limiting wall 2011, when the walking mechanism 120 contacts the side of the extension end 2051 near the bottom wall 2012 of the groove, the reaction force of the extension end 2051 acting on the walking mechanism 120 is directed towards the bottom wall 2012 of the groove. In this way, the extension end 2051 can limit the walking mechanism 120, preventing the walking mechanism 120 from flipping out of the limiting groove 205, thereby preventing the cleaning robot 100 from flipping backward and thus preventing the cleaning robot 100 from flipping out of the receiving groove 301.

[0159] The towing mechanism 30 includes a towing seat 31 and a movable baffle 32. The towing seat 31 is provided with a receiving groove 301. The movable baffle 32 is disposed at an opening 302. The movable baffle 32 is used to open or close the opening 302. The movable baffle 32 is rotatably connected to the towing seat 31. The movable baffle 32 has a first state and a second state relative to the towing seat 31. When the movable baffle 32 is in the first state, the movable baffle 32 is arranged to avoid the opening 302, and the cleaning robot 100 can pass freely through the opening 302. When the movable baffle 32 is in the second state, the movable baffle 32 closes the opening 302 to limit the cleaning robot 100 in the receiving groove 301, or to prevent foreign objects from entering the receiving groove 301 after the cleaning robot 100 has driven out of the receiving groove 301.

[0160] In some embodiments, the walking mechanism 120 is provided with a toothed structure, and the movable baffle 32 is provided with a mating structure that engages with the toothed structure. One of the toothed structure and the mating structure can be configured as a plurality of protrusions arranged at intervals, and the other can be configured as a plurality of grooves arranged at intervals, the grooves accommodating the protrusions. When the walking mechanism 120 contacts the movable baffle 32, the toothed structure engages with the mating structure, causing the walking mechanism 120 to rotate relative to the carrier seat 31, thus rotating the movable baffle 32 from a second state to a first state, allowing the cleaning robot 100 to pass through the opening 302. In this way, by having the cleaning robot 100 drive the movable baffle 32 to rotate, it is possible to avoid the need for additional drive components to drive the movable baffle 32, simplifying the structure of the water station 200 and reducing manufacturing costs. The movable baffle 32 may be provided with a mating structure on both the side close to the receiving groove 301 and the side away from the receiving groove 301, so that the cleaning robot 100 can open the movable baffle 32 from both inside and outside the receiving groove 301 via the walking mechanism 120.

[0161] Water-based mobile base stations placed on the shore are prone to tipping over and falling into the pool, shortening their lifespan. This application's embodiment shortens the lever arm of the gravity acting on the base station body by the towing mechanism and cleaning robot, resulting in a smaller gravitational torque on the base station body. This prevents the base station body from tipping over, ensuring the stability of the water-based base station and extending the service life of the cleaning system.

[0162] As shown in Figure 1, the towing mechanism 30 may have a fifth position that is at least partially below the liquid surface; as shown in Figure 2, the towing mechanism 30 may also have a sixth position that is above the liquid surface and stacked on the base station body 10.

[0163] As shown in Figures 1 and 2, the towing mechanism 30 can move the cleaning robot 100 from a fifth position, which is at least partially below the liquid surface, to a sixth position, which is above the liquid surface and stacked on the base station body 10, thus realizing the process of the cleaning robot 100 leaving the water; the towing mechanism 30 can also move the cleaning robot 100 from a sixth position, which is above the liquid surface and stacked on the base station body 10, to a fifth position, which is at least partially below the liquid surface, thus realizing the process of the cleaning robot 100 entering the water.

[0164] Figure 24 is a three-dimensional structural diagram of the cleaning system 1000 in Figure 1, and Figure 25 is a three-dimensional structural diagram of the water-removing base station 200 in Figure 24. For ease of explanation, an XYZ coordinate system can be defined, where the Z-axis direction is the height direction of the water-removing base station 200, and also the height direction of the base station body 10.

[0165] As shown in Figures 24 and 5, along the direction away from the base station body 10, the towing mechanism 30 may include a connecting end 311 and a free end 312 arranged in sequence opposite to each other. A bearing surface 304 may be formed between the connecting end 311 and the free end 312, which is used to support the cleaning robot 100.

[0166] As shown in Figures 24 and 5, along the direction of the towing mechanism 30 away from the base station body 10, the base station body 10 may include a first end 1001 and a second end 1002 arranged sequentially opposite to each other. For example, during the movement of the towing mechanism 30 between the fifth and sixth positions, the bottom 37 of the towing mechanism 30 may contact the first end 1001. By ensuring that the bottom 37 of the towing mechanism 30 is always in contact with the first end 1001, the first end 1001 can provide stable support for the movement of the towing mechanism 30, improving the reliability of the towing mechanism 30's movement and the stability of the water-based base station 200.

[0167] As shown in Figures 24 and 5, the base station body 10 may, by way of example, further include a support member 60, such as a pulley. The support member 60 is rotatably disposed at the first end of the base station body 10, and the bottom 37 of the towing mechanism 30 can contact the support member 60. By providing the support member 60, the towing mechanism 30 can roll in contact with the first end 1001 as it moves away from or towards the base station body 10, reducing the friction between the towing mechanism 30 and the first end 1001. In another embodiment, the support member 60 may not be provided on the first end 1001 of the base station body 10.

[0168] As shown in Figures 24 and 5, by way of example, the vertical distance from the center of gravity 23 of the base station body 10 to the second end 1002 can be less than the vertical distance from the center of gravity 23 of the base station body to the first end 1001. For ease of description, the center of gravity 23 of the base station body can be simply referred to as the main center of gravity 23. By making the main center of gravity 23 biased towards the second end 1002 relative to the first end 1001, the lever arm of the gravity of the base station body 10 acting on the first end 1001 can be made larger. That is, the torque generated by the gravity of the base station body 10 to keep the base station body 10 in a stable horizontal position is larger, which helps to counteract the torque generated by the gravity of the towing mechanism 30 and the cleaning robot 100 that causes the base station body 10 to tilt towards the water surface, thus ensuring the stability of the base station body 10. In another embodiment, the position of the main center of gravity 23 may not be limited in this way.

[0169] As shown in Figures 24 and 5, exemplarily, the base station body 10 may have a support surface 1101 for supporting the towing mechanism 30. The support surface 1101 may be located between the first end 1001 and the second end 1002. The support surface 1101 may be inclined such that the height of the first end 1001 is lower than that of the second end 1002. The inclined arrangement of the support surface 1101 allows for a larger space away from the shoreline for the base station body 10. Functional components of the water-based base station 200 (e.g., drive components) may be arranged in this space so that the center of gravity of the base station body 10 is biased towards the second end 1002.

[0170] It is understood that the inclined arrangement of the support surface 1101 is merely an illustrative example and is not intended to limit the embodiments of this application. For example, in another embodiment, the height of the second end 1002 of the base station body 10 can be substantially the same as the height of the first end 1001, and the density of the second end 1002 can be greater than the density of the first end 1001.

[0171] Referring to Figures 24 and 5, as an example, the towing mechanism 30 may further include a movable baffle 32. The movable baffle 32 can be movably connected to the free end 312 of the towing mechanism 30. The movable baffle 32 can be used to open the opening 302 of the towing mechanism 30 to allow the cleaning robot 100 to enter or leave the bearing surface 304 of the towing mechanism 30, and can also be used to close the opening 302 of the towing mechanism 30 to fix the cleaning robot 100 and prevent the cleaning robot 100 from moving relative to the towing mechanism 30. In another embodiment, the towing mechanism 30 may not include the movable baffle 32, and other structures that meet the requirements can be used to fix the cleaning robot 100.

[0172] As shown in Figures 24 and 5, when the towing mechanism 30 is in the fifth position, the free end 312 of the towing mechanism 30 can be below the liquid surface, and the connecting end 311 of the towing mechanism 30 can be close to the first end 1001 of the base station body 10. This arrangement ensures that the gravitational torque on the base station body 10 is smaller when the towing mechanism 30 is in the fifth position, thus guaranteeing the stability of the base station body 10 in the fifth position. The above principle will be further explained below. In another embodiment, the position of the connecting end 311 when the towing mechanism 30 is in the fifth position is not limited in this way.

[0173] Figure 25 is a three-dimensional structural diagram of the water-removing base station 200 when the towing mechanism 30 is in the seventh position. The seventh position is the middle position when the towing mechanism 30 changes from the fifth position to the sixth position. At this time, the towing mechanism 30 is above the liquid surface. Figure 26 is a three-dimensional structural diagram of the water-removing base station 200 in Figure 2.

[0174] As shown in Figures 2 and 26, when the towing mechanism 30 is in the sixth position, the free end 312 of the towing mechanism 30 can be close to the first end 1001 of the base station body 10, and the connecting end 311 of the towing mechanism 30 can be close to the second end 1002 of the base station body 10. This arrangement allows the towing mechanism 30 and the cleaning robot 100 to be stacked on the base station body as much as possible, ensuring the stability of the base station body 10 when the towing mechanism 30 is in the sixth position.

[0175] As shown in Figures 24, 5, 25, and 26, during the transition of the towing mechanism 30 from the fifth position to the sixth position, the distance between the connecting end 311 of the towing mechanism 30 and the first end 1001 of the base station body 10 gradually increases. By gradually increasing the distance between the connecting end 311 of the towing mechanism 30 and the first end 1001 of the base station body 10, the distance between the free end 312 of the towing mechanism 30 and the first end 1001 of the base station body 10 gradually decreases. This results in a shorter gravitational lever arm for the towing mechanism 30 when returning to the base station body 10, and a smaller gravitational torque on the base station body 10, thus preventing the base station body from tipping over under the combined weight of the towing mechanism 30 and the cleaning robot 100. This principle will be further explained below.

[0176] Figure 27 is a cross-sectional view (AA) of the cooperative structure of the water-removing base station 200 and the cleaning robot 100 in Figure 25. As shown in Figure 27, exemplarily, the water-removing base station 200 may further include a first rotating member 52. One end of the first rotating member 52 can be rotatably connected to the base station body 10, and the other end can be rotatably connected to the connecting end 311 of the towing mechanism 30. For ease of explanation, the end of the first rotating member 52 connected to the base station body 10 can be referred to as the third end 522a. The third end 522a can be located between the first end 1001 and the second end 1002, for example, it can be located in the middle of the base station body 10. The first rotating member 52 can drive the movement of the towing mechanism 30 and the cleaning robot 100 relative to the base station body 10, which will be described in detail below. In another embodiment, the water-removing base station 200 may not include the first rotating member 52, and other methods that meet product requirements can be used to drive the movement of the towing mechanism 30.

[0177] As shown in Figure 27, exemplarily, the water-removing base station 200 may further include a drive motor 511 and a second rotating member 53, with both ends of the second rotating member 53 being drive-connected to the drive motor 511 and the first rotating member 52, respectively. The first rotating member 52 and the second rotating member 53, etc., can form a transmission member 520. The drive motor 511 and the transmission member 520, etc., can form a drive motor 511. The drive motor 511 can be, for example, a drive motor used to drive the movement of the transmission member 520. The drive motor 511 can transmit power to the first rotating member 52 through the second rotating member 53, thereby driving the movement of the towing mechanism 30 and the cleaning robot 100. This design makes power transmission smoother, reduces energy loss, helps to reduce the output power of the drive motor 511, and ultimately extends the service life of the water-removing base station 200. In another embodiment, the water-removing base station 200 may not include the drive motor 511 and the second rotating member 53.

[0178] As shown in Figure 27, for example, the transmission component 520 may also include a lead screw 512 and a slider 513. The lead screw 512 can be connected to the drive motor 511, and the slider 513 can be sleeved on the lead screw 512 to form a transmission connection. The slider 513 can be rotatably connected to the second rotating component 53. By sliding the slider 513 from the first end 1001 to the second end 1002, the second rotating component 53 can be driven to slide and rotate, thereby driving the first rotating component 52 to rotate. This allows the towing mechanism 30 and the cleaning robot 100 to move from the fifth position away from the base station body 10 to the sixth position stacked on the base station body 10.

[0179] The structural features of the water-based base station 200 have been introduced above. The working principle of the water-based base station 200 will be explained in detail below.

[0180] Figure 28 shows the orthographic projection of the cleaning system 1000 on the XZ plane when the towing mechanism 30 is in the fifth position; Figure 29 shows the orthographic projection of the cleaning system 1000 on the XZ plane when the towing mechanism 30 is in the seventh position; and Figure 30 shows the orthographic projection of the cleaning system 1000 on the XZ plane when the towing mechanism 30 is in the sixth position.

[0181] Referring to Figures 5 and 28, when the towing mechanism 30 is in the fifth position, the free end 312 of the towing mechanism 30 can be below the liquid surface, and the connecting end 311 of the towing mechanism 30 is close to the first end 1001 of the base station body 10. At this time, the movable baffle 32 can rotate to open the opening 302, and the cleaning robot 100 can enter the bearing surface 304 through the opening 302 of the towing mechanism 30 along the pool wall of the pool 1a. The movable baffle 32 then closes the opening 302 to fix the towing mechanism 30. The horizontal distance between the free end 312 of the towing mechanism 30 and the first end 1001 of the base station body 10 is 0 or close to 0. Therefore, the force arm generated by the center of gravity 3300 of the towing mechanism and the center of gravity 4100 of the robot acting on the base station body 10 is small. This results in a small gravitational torque on the base station body 10 from the towing mechanism 30 to the sixth position in the initial stage, ensuring the stability of the base station body 10.

[0182] Referring to Figures 28, 29, and 30, in one possible implementation, during the transition of the towing mechanism 30 from the fifth position to the sixth position, the first rotating member 52 can drive the connecting end 311 of the towing mechanism 30 to move along the direction from the first end 1001 to the second end 1002, thereby gradually increasing the distance D3 between the connecting end 311 of the towing mechanism 30 and the first end 1001 of the base station body 10. This movement causes the distance D4 between the free end 312 of the towing mechanism 30 and the first end 1001 of the base station body 10 to gradually decrease. Compared to the scheme where the connecting end 311 always coincides with the first end 1001, i.e., the towing mechanism 30 rotates around the first end 1001 as an axis, in this embodiment, the lever arm D5 of the towing mechanism 30 acting on the first end 1001 of the base station body 10 and the lever arm D6 of the cleaning robot 100 acting on the first end 1001 of the base station body 10 are both relatively small. This results in a smaller gravitational torque on the base station body 10, thereby preventing the base station body 10 from tipping over under the action of the towing mechanism 30 and the cleaning robot 100, ensuring the stability of the base station body 10, and helping to extend the service life of the water-free base station 200.

[0183] Referring to Figures 28, 29, and 30, in one possible implementation, the seventh position can be any position where the towing mechanism 30 is above the liquid surface. As the towing mechanism 30 moves from the seventh position to the sixth position, the lever arm D5 between the center of gravity 3300 of the towing mechanism 30 and its first end can gradually decrease. This allows the lever arm D5 of the towing mechanism 30's center of gravity 3300 acting on the first end 1001 of the base station body 10 and the lever arm D6 of the cleaning robot 100's center of gravity 4100 acting on the first end 1001 of the base station body 10 to gradually decrease during the transition from the position above the liquid surface to the sixth position. This results in a gradual decrease in the gravitational torque of the towing mechanism 30 and the cleaning robot 100, which helps prevent the base station body 10 from tipping over under the influence of the towing mechanism 30 and the cleaning robot 100 when the towing mechanism is on the liquid surface. Furthermore, during the process of the towing mechanism 30 switching from the fifth position to the seventh position, the towing mechanism 30 and the cleaning robot 100 are always partially submerged in water and subjected to the buoyancy of the water, which to some extent offsets part of the gravity of the towing mechanism 30 and the cleaning robot 100, ensuring the stability of the base station body 10.

[0184] Referring to Figures 28, 29, and 30, in one possible implementation, as the center of gravity 3300 of the towing mechanism 30 moves from the fifth position to the sixth position, the lever arm D5 between the center of gravity 3300 of the towing mechanism 30 and the first end 1001 can first increase and then decrease. This allows the lever arm D6 between the center of gravity 4100 of the cleaning robot 100 and the first end 1001 to also first increase and then decrease, and the gravitational torque of the towing mechanism 30 and the cleaning robot 100 on the base station body 10 also first increases and then decreases. This arrangement ensures that, at least during the period when the towing mechanism 30 and the cleaning robot 100 are underwater, the gravitational torque gradually increases, while the buoyancy in the water can, to some extent, offset part of the gravity of the towing mechanism 30 and the cleaning robot 100, ensuring the stability of the base station body 10.

[0185] As shown in Figure 30, in one possible implementation, when the towing mechanism 30 is in the sixth position, the vertical distance between the center of gravity 3300 of the towing mechanism 30 and the second end 1002 can be less than the vertical distance between the first end 1001 and the second end 1002. This ensures that when the towing mechanism 30 is in the sixth position, the center of gravity of the towing mechanism 30 and the cleaning robot 100 is located between the second end 1002 and the first end 1001 of the base station body 10. At this time, the gravity of the towing mechanism 30 and the cleaning robot 100 no longer generates a torque that causes the base station body 10 to tilt towards the water surface, but instead generates a torque that keeps the base station body 10 stably positioned on the shore, thus ensuring the stability of the base station body 10.

[0186] Referring to Figures 28, 29, and 30, in one possible implementation, the third end 522a of the first rotating member 52 can be connected between the second end 1002 and the first end 1001 of the base station body 10. If the third end 522a is connected to the base station body 10 close to the second end 1002, during the transition between the fifth and sixth positions of the towing mechanism 30, the center of gravity of the third end 522a is far from that of the towing mechanism 30 and the cleaning robot 100. This would result in an excessively large lever arm between the center of gravity of the towing mechanism 30 and the cleaning robot 100 and the third end 522a. For example, as shown in Figure 9, the center of gravity 4100 of the cleaning robot 100 acts on the lever arm D7 of the third end 522a, increasing the torque on the first rotating member 52, i.e., increasing the load on the drive motor 511, leading to a shortened service life of the water-removing base station 200. If the first rotating component 52 is connected to the base station body close to the first end 1001, it will result in the first rotating component 52 being too long, increasing the risk of breakage. Therefore, by connecting the first rotating component 52 between the second end 1002 and the first end 1001 of the base station body 10, it is beneficial to extend the service life of the water-free base station 200.

[0187] In summary, the embodiments of this application shorten the lever arm of the gravity acting on the base station body by the towing mechanism and the cleaning robot, so that the gravitational torque on the base station body is smaller, thereby avoiding the base station body from tipping over, ensuring the stability of the base station body, and helping to extend the service life of the water-free base station.

[0188] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0189] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A water-removal base station for driving a cleaning robot into or out of a water tank, characterized in that, The water-free base station includes: Base station main body; A towing mechanism is movably connected to the base station body to switch between a first state and a second state. In the first state, the towing mechanism is at least partially located below the surface of the water tank, and in the second state, the towing mechanism is located above the surface of the water tank. The towing mechanism has a receiving slot for accommodating the cleaning robot, and when the towing mechanism moves to a vertical position relative to the base station body, there is a gap between the towing mechanism and the base station body.

2. The water-free base station according to claim 1, characterized in that, The water-free base station also includes a first rotating component. The towing mechanism has a connecting end and a free end that are arranged opposite to each other. The connecting end is movably connected to the base station body through the first rotating component, and the connecting end and the first rotating component can rotate relative to each other.

3. The water-free base station according to claim 2, characterized in that, When the towing mechanism moves relative to the base station body to the vertical direction, the projection of the end of the connecting end connected to the first rotating member along the vertical direction is outside the projection of the base station body along the vertical direction.

4. The water-free base station according to claim 2, characterized in that, When the towing mechanism moves relative to the base station body to the vertical direction, the projection of the end of the connecting end connected to the first rotating member along the vertical direction is located within the projection of the base station body along the vertical direction.

5. The water-free base station according to claim 2, characterized in that, The water-free base station also includes an elastic element. When the towing mechanism moves to a vertical position relative to the base station body, the two ends of the elastic element are respectively connected to the first rotating member and the towing mechanism, and are used to provide an elastic force that causes the towing mechanism to move toward the base station body.

6. The water-free base station according to claim 5, characterized in that, The two ends of the elastic element are fixedly disposed relative to the first rotating element and the towing mechanism, respectively.

7. The water-free base station according to claim 5, characterized in that, One end of the elastic element is movable away from the first rotating element or the towing mechanism.

8. The water-free base station according to claim 5, characterized in that, The water-free base station also includes a toggle member, which is fixedly disposed relative to the first rotating member or the towing mechanism. The toggle member is used to disengage one end of the elastic member from the connection with the first rotating member or the towing mechanism.

9. The water-off base station according to claim 8, characterized in that, The water-free base station also includes a sliding member, which is connected to one of the first rotating member and the towing mechanism via the elastic member, and is slidably disposed relative to one of the first rotating member and the towing mechanism. The actuating member is fixed to the other of the first rotating member and the towing mechanism, and is detachably attached to the sliding member. When the towing mechanism moves to a vertical position relative to the base station body, the elastic member is connected to the first rotating member and the towing mechanism respectively via the sliding member and the actuating member. When the actuating member moves away from the sliding member, the elastic member disengages from the first rotating member or the towing mechanism.

10. The water-free base station according to claim 2, characterized in that, The towing mechanism further includes a main body connecting the connecting end and the free end, wherein the connecting end is located in the middle of the main body opposite to the free end.

11. The water-based base station according to any one of claims 2-10, characterized in that, When the towing mechanism moves to a vertical position relative to the base station body, the end of the first rotating member connected to the connecting end protrudes from the end of the base station body near the towing mechanism.

12. The water-based base station according to any one of claims 2-10, characterized in that, When the towing mechanism moves to a vertical position relative to the base station body, the towing mechanism has an abutment surface facing the base station body, and the abutment surface is provided with a clearance groove at the position corresponding to the base station body.

13. The water-based base station according to any one of claims 2-10, characterized in that, The water-free base station also includes a driving component, which is disposed on the base station body and is connected to the first rotating component in a transmission manner. The driving component is used to drive the first rotating component to rotate so that the towing mechanism moves relative to the base station body.

14. The water-off base station according to claim 13, characterized in that, The water-free base station also includes a second rotating component, one end of which is rotatably connected to the first rotating component, and the other end of which is rotatably connected to the driving component.

15. The water-based base station according to any one of claims 1-10, characterized in that, The water-free base station also includes a support member, which is rotatably disposed at the end of the base station body near the water pool and abuts against the towing mechanism.

16. The water-off base station according to claim 15, characterized in that, When the towing mechanism moves to the vertical direction relative to the base station body, the bearing member protrudes from the side of the base station body facing the towing mechanism.

17. The water-off base station according to claim 16, characterized in that, The base station body has a mounting groove at the top of the end near the water pool, and the support member is rotatably mounted in the mounting groove.

18. A cleaning system, characterized in that, Includes a cleaning robot and a water-off base station as described in any one of claims 1-17, wherein the cleaning robot is detachably mounted on the water-off base station.

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